Robotic system with handling mechanism and method of operation thereof

ABSTRACT

A gripper including: an orientation sensor configured to generate an orientation reading for a target object; a first grasping blade and a second grasping blade configured to secure the target object in conjunction with the first grasping blade and at an opposite end of the target object relative to the first grasping blade; a first position sensor, of the first grasping blade, configured to generate a first position reading of the first grasping blade relative to the target object; a second position sensor, of the second grasping blade, configured to generate a second position reading of the second grasping blade relative to the target object; and a blade actuator configured to secure the target object with the first grasping blade and the second grasping blade based on a valid orientation of the orientation reading and based on the first position reading and the second position reading indicating a stable condition.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a Continuation of co-pending U.S. patent applicationSer. No. 16/701,798 filed Dec. 3, 2019, and the subject matter thereofis incorporated herein by reference thereto. U.S. patent applicationSer. No. 16/701,798 filed Dec. 3, 2019 further claims the benefit ofU.S. Provisional Patent Application Ser. No. 62/818,399 filed Mar. 14,2019, and the subject matter thereof is incorporated herein by referencethereto.

TECHNICAL FIELD

The present technology is directed generally to robotic systems and,more specifically, to handling mechanism.

BACKGROUND

Modern robotics and automation are providing increasing levels offunctionality to support in industrial settings, such as manufacturingfacilities, receiving and distribution centers, and warehouses. Researchand development in the existing technologies can take a myriad ofdifferent directions.

As users become more empowered with the growth of robotic systems, newand old paradigms begin to take advantage of this new technology space.There are many technological solutions to take advantage of these newcapabilities to enhance or augment automation of robotic systems, suchas the capability for the robotic systems to autonomously handle variousobjects. However, users are not provided the option rely on the roboticsystems to accurately and efficiently identify objects from a collectionof objects in a consistent manner.

Thus, a need still remains for a robotics system with a handlingmechanism that is configurable. In view of the ever-increasingcommercial competitive pressures, along with growing consumerexpectations and the diminishing opportunities for meaningful productdifferentiation in the marketplace, it is increasingly critical thatanswers be found to these problems. Additionally, the need to reducecosts, improve efficiencies and performance, and meet competitivepressures adds an even greater urgency to the critical necessity forfinding answers to these problems.

Solutions to these problems have been long sought but prior developmentshave not taught or suggested any solutions and, thus, solutions to theseproblems have long eluded those skilled in the art.

SUMMARY

An embodiment of the present invention provides a gripper including: anorientation sensor configured to generate an orientation reading for atarget object; a first grasping blade configured to secure the targetobject; a second grasping blade configured to secure the target objectin conjunction with the first grasping blade and at an opposite end ofthe target object relative to the first grasping blade; a first positionsensor configured to generate a first position reading of the firstgrasping blade relative to the target object and located with the firstgrasping blade; a second position sensor configured to generate a secondposition reading of the second grasping blade relative to the targetobject and located with the second grasping blade; and a blade actuatorconfigured to secure the target object with the first grasping blade andthe second grasping blade based on a valid orientation of theorientation reading and based on the first position reading and thesecond position reading indicating a stable condition, and coupled tothe first grasping blade and the second grasping blade.

An embodiment of the present invention provides a method of operation ofa robotic system including a gripper further including: generating anorientation reading for a target object; generating a first positionreading representing a position of a first grasping blade of the gripperrelative to the target object; generating a second position readingrepresenting a position of a second grasping blade of the gripperrelative to the target object and the second grasping blade located atan opposite side of the target object as the first grasping blade, andexecuting an instruction for securing the target object with the firstgrasping blade and the second grasping blade based on a validorientation reading of the orientation reading and based on the firstposition reading and the second position reading indicating a stablecondition.

An embodiment of the present invention provides a robotic system,including: a control unit configured to: verify a valid orientation fora target object, determine a stable condition for the target objectbased on a first position reading of a first grasping blade of a gripperrelative to the target object and a second position reading of a secondgrasping blade of the gripper relative to the target object, generate achuck command based on the stable condition and the valid orientationfor the target object; and a communication unit, coupled to the controlunit, configured to: transmit the chuck command for securing the targetobject with the first grasping blade and the second grasping blade.

Certain embodiments of the invention have other steps or elements inaddition to or in place of those mentioned above. The steps or elementswill become apparent to those skilled in the art from a reading of thefollowing detailed description when taken with reference to theaccompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an example environment for a robotic system with a handlingmechanism in an embodiment.

FIG. 2 is an example of a block diagram of the robotic system.

FIG. 3 is a top perspective view of an example of the gripper with thetarget object in an embodiment.

FIG. 4 is a top perspective view exposing a portion of an interior ofthe gripper.

FIG. 5 is a top perspective view of the gripper positioning with thetarget object.

FIG. 6 is a detailed view of a portion of the gripper of positioningwith the target object.

FIG. 7 is a perspective view of the gripper of FIG. 5 orienting to thetarget object.

FIG. 8 is a detailed view of a portion of the gripper of FIG. 7orienting with the target object.

FIG. 9 is a bottom view of the gripper.

FIG. 10 is a bottom perspective view of the gripper of FIG. 9 .

FIG. 11 is an exploded bottom perspective view of the gripper of FIG. 10.

FIG. 12 is a perspective view of the gripper with the actuationinterface.

FIG. 13 is a perspective view of a gripper in a further embodiment.

FIG. 14 is a control flow for the robotic system of FIG. 1 .

FIG. 15 is flow chart of a method of operation of a robotic system in anembodiment of the present invention.

DETAILED DESCRIPTION

In the following description, numerous specific details are set forth toprovide a thorough understanding of the presently disclosed technology.In other embodiments, the techniques introduced here can be practicedwithout these specific details. In other instances, well-known features,such as specific functions or routines, are not described in detail inorder to avoid unnecessarily obscuring the present disclosure.References in this description to “an embodiment,” “one embodiment,” orthe like mean that a particular feature, structure, material, orcharacteristic being described is included in at least one embodiment ofthe present disclosure. The appearances of such phrases in thisspecification do not necessarily all refer to the same embodiment. Onthe other hand, such references are not necessarily mutually exclusive.Furthermore, the particular features, structures, materials, orcharacteristics can be combined in any suitable manner in one or moreembodiments.

It is to be understood that the various embodiments shown in the figuresare merely illustrative representations. Further, the drawings showingembodiments of the system are semi-diagrammatic, and not to scale and,particularly, some of the dimensions are for the clarity of presentationand are shown exaggerated in the drawing figures. Similarly, althoughthe views in the drawings for ease of description generally show similarorientations, this depiction in the figures is arbitrary for the mostpart. Generally, the invention can be operated in any orientation.

Several details describing structures or processes that are well-knownand often associated with robotic systems and subsystems, but that canunnecessarily obscure some significant aspects of the disclosedtechniques, are not set forth in the following description for purposesof clarity. Moreover, although the following disclosure sets forthseveral embodiments of different aspects of the present technology,several other embodiments can have different configurations or differentcomponents than those described in this section. Accordingly, thedisclosed techniques can have other embodiments with additional elementsor without several of the elements described below.

Many embodiments or aspects of the present disclosure described belowcan take the form of computer-executable or controller-executableinstructions, including routines executed by a programmable computer orcontroller. Those skilled in the relevant art will appreciate that thedisclosed techniques can be practiced on computer or controller systemsother than those shown and described below. The techniques describedherein can be embodied in a special-purpose computer or data processorthat is specifically programmed, configured, or constructed to executeone or more of the computer-executable instructions described below.Accordingly, the terms “computer” and “controller” as generally usedherein refer to any data processor and can include Internet appliancesand handheld devices, including palm-top computers, wearable computers,cellular or mobile phones, multi-processor systems, processor-based orprogrammable consumer electronics, network computers, mini computers,and the like. Information handled by these computers and controllers canbe presented at any suitable display medium, including a liquid crystaldisplay (LCD). Instructions for executing computer- orcontroller-executable tasks can be stored in or on any suitablecomputer-readable medium, including hardware, firmware, or a combinationof hardware and firmware. Instructions can be contained in any suitablememory device, including, for example, a flash drive, USB device, and/orother suitable medium.

The terms “coupled” and “connected,” along with their derivatives, canbe used herein to describe structural relationships between components.It should be understood that these terms are not intended as synonymsfor each other. Rather, in particular embodiments, “connected” can beused to indicate that two or more elements are in direct contact witheach other. Unless otherwise made apparent in the context, the term“coupled” can be used to indicate that two or more elements are ineither direct or indirect (with other intervening elements between them)contact with each other, or that the two or more elements cooperate orinteract with each other (e.g., as in a cause-and-effect relationship,such as for signal transmission/reception or for function calls), orboth.

The following embodiments are described in sufficient detail to enablethose skilled in the art to make and use the invention. It is to beunderstood that other embodiments would be evident based on the presentdisclosure, and that system, process, or mechanical changes may be madewithout departing from the scope of an embodiment of the presentinvention.

The term “module” or “unit” referred to herein can include software,hardware, mechanical mechanisms, or a combination thereof in anembodiment of the present invention, in accordance with the context inwhich the term is used. For example, the software can be machine code,firmware, embedded code, or application software. Also, for example, thehardware can be circuitry, a processor, a special purpose computer, anintegrated circuit, integrated circuit cores, a pressure sensor, aninertial sensor, a microelectromechanical system (MEMS), a passivedevice, or a combination thereof. Furthermore, the mechanical mechanismcan include actuators, motors, arms, joints, handles, end effectors,guides, mirrors, anchoring bases, vacuum lines, vacuum generators,liquid source lines, or stoppers. Further, if a “module” or “unit” iswritten in the system claims section below, the “module” or “unit” isdeemed to include hardware circuitry for the purposes and the scope ofthe system claims.

The modules or units in the following description of the embodiments canbe coupled or attached to one another as described or as shown. Thecoupling or attachment can be direct or indirect without or withintervening items between coupled or attached modules or units. Thecoupling or attachment can be by physical contact or by communicationbetween modules or units.

Referring now to FIG. 1 , therein is shown an example environment for arobotic system 100 with a handling mechanism in an embodiment. Theenvironment for the robotic system 100 can includes one or morestructures, such as robots or robotic devices, configured to execute oneor more tasks. Aspects of the object handling mechanism can be practicedor implemented by the various structures.

In the example illustrated in FIG. 1 , the robotic system 100 caninclude an unloading unit 102, a transfer unit 104, a transport unit106, a loading unit 108, a robotic unit 110, a controller 112, or acombination thereof in a warehouse, a distribution center, or a shippinghub. The robotic system 100 or a portion of the robotic system 100 canbe configured to execute one or more tasks.

The tasks can be combined in sequence to perform an operation thatachieves a goal, for example, such as to unload a target object 120 froma vehicle, such as a truck, trailer, a van, or train car, for storage ina warehouse or to unload the target object 120 from storage locationsand load the target object 120 onto a vehicle for shipping. The tasksare functions performed or executed by the robotic system 100 for thephysical transformation upon the unloading unit 102, the transfer unit104, the transport unit 106, the loading unit 108, the robotic unit 110,or a combination thereof.

For example, the task can include moving the target object 120 from onelocation, such as a container, bin, cage, basket, shelf, platform,pallet, or conveyor belt, to another location. The robotic system 100 ora portion of the robotic system 100 can be configured to execute asequence of actions, such as operating one or more components therein,to execute a task.

The target object 120 can represent one or more containers to bedisplaced or moved by the robotic system 100. An example of the targetobject 120 can include bins, boxes, crates, enclosures, packages, or acombination thereof. The target object 120 will be further describedlater.

FIG. 1 illustrates examples of the possible functions and operationsthat can be performed by the various units of the robotic system 100 inhandling the target object 120 and it is understood that the environmentand conditions can differ from those described hereinafter. For example,the unloading unit 102 can be a vehicle offloading robot configured totransfer the target object 120 from a location in a carrier, such as atruck, to a location on a conveyor belt.

Also, the transfer unit 104, such as a palletizing robot, can beconfigured to transfer the target object 120 from a location on theconveyor belt to a location on the transport unit 106, such as forloading the target object 120 on a pallet on the transport unit 106. Inanother example, the transfer unit 104 can be a piece-picking robotconfigured to transfer the target object 120. In completing theoperation, the transport unit 106 can transfer the target object 120from an area associated with the transfer unit 104 to an area associatedwith the loading unit 108, and the loading unit 108 can transfer thetarget object 120, such as by moving the pallet carrying the targetobject 120, from the transfer unit 104 to a storage location, such as alocation on the shelves.

For illustrative purposes, the robotic system 100 is described in thecontext of a shipping center; however, it is understood that the roboticsystem 100 can be configured to execute tasks in other environments orfor other purposes, such as for manufacturing, assembly, packaging,healthcare, or other types of automation. It is also understood that therobotic system 100 can include other units, such as manipulators,service robots, modular robots, that are not shown in FIG. 1 . Forexample, in some embodiments, the robotic system 100 can include adepalletizing unit for transferring the objects from cages, carts, orpallets onto conveyors or other pallets, a container-switching unit fortransferring the objects from one container to another, a packaging unitfor wrapping the objects, a sorting unit for grouping objects accordingto one or more characteristics thereof, a piece-picking unit formanipulating the objects differently, such as sorting, grouping, and/ortransferring, according to one or more characteristics thereof, or acombination thereof.

The controller 112 can provide the intelligence for the robotic system100 or a portion of the robotic system 100 to perform the tasks. As anexample, the controller 112 can control the operations of the roboticunit 110 to move the target object 120.

For illustrative purposes, the robotic system 100 is described withseparate components, such as the robotic unit 110 and the controller112, although it is understood that the robotic system 100 can beorganized differently. For example, the robotic system 100 can includethe functions provided by the controller 112 distributed throughout therobotic system 100 and not as a separate enclosure as shown in FIG. 1 .Also for example, the controller 112 can be included as a portion of therobotic unit 110. Further for example, the controller 112 can bemultiple enclosure each providing intelligences to different portions orunits of the robotic system 100.

Returning to the robotic unit 110, the robotic unit 110 can include agripper 122. The robotic unit 110 can utilize the gripper 122 to movethe target object 120 in the transfer unit 104. As described earlier,the controller 112 can provide the intelligences for the robotic unit110. Similarly, the controller 112 can also provide the intelligence forthe gripper 122.

As an example, the intelligence from the controller 112 can bedistributed with the robotic unit 110. As a specific example, thegripper 122 can also provide some intelligence for the operation of thegripper 122 and can interact with the intelligence from the controller112 or the distributed intelligence as part of the robotic unit 110.

Referring now to FIG. 2 , therein is shown an example of a block diagramof the robotic system 100. The example shown in FIG. 2 can be for therobotic system 100 shown in FIG. 1 . In one embodiment, the roboticsystem 100 can include a control unit 202, a storage unit 206, acommunication unit 212, a user interface 216, an actuation unit 220, anda sensor unit 230. In one embodiment, one or more of these componentscan be combined in the controller 112 as depicted by a dashed box.

The controller 112 can house a portion of the robotic system 100. Forexample, the controller 112 can be a case, a chassis, a box, a console,a computer tower, or a computer motherboard. Continuing with theexample, the control unit 202, the storage unit 206, the communicationunit 212, or a combination thereof can be housed and included in thecontroller 112. Also for example, the control unit 202, the storage unit206, the communication unit 212, or a combination thereof can be housedand included in the controller 112 while the user interface 216, can beaccessible external to the controller 112.

While one or more portions of the robotic system 100 can be housed in oron the controller 112, other portions of the robotic system 100 can beexternal to the controller 112. For example, the user interface 216, theactuation unit 220, the sensor unit 230, or a combination thereof can beexternal to the controller 112 while the control unit 202, the storageunit 206, and the communication unit 212, are housed and included in thecontroller 112. Other combinations of portions of the robotic system 100or the robotic unit 110 of FIG. 1 can be housed in the controller 112.

The control unit 202 can execute a software 210 to provide theintelligence of the robotic system 100. The control unit 202 can alsoexecute the software 210 for the other functions of the robotic system100. The control unit 202 can be implemented in a number of differentways. For example, the control unit 202 can be a processor, anapplication specific integrated circuit (ASIC), an embedded processor, amicroprocessor, a hardware control logic, a hardware finite statemachine (FSM), a digital signal processor (DSP), or a combinationthereof.

For illustrative purposes, the control unit 202 is shown as a singleelement, although it is understood that the control unit 202 canrepresent a number of devices and a distribution of compute resources.For example, the control unit 202 can be a distribution of computeresources throughout and external to the robotic system 100. Also forexample, the control unit 202 can be distributed between the controller112, the robotic unit 110, the gripper 122 of FIG. 1 , or a combinationthereof. The software 210 can also be distributed between the controller112, the robotic unit 110, the gripper 122, or a combination thereof.

The control unit 202 can include a control interface 204. The controlinterface 204 can be used for communication between the control unit 202and other functional units of the robotic system 100. The controlinterface 204 can also be used for communication that is external to therobotic system 100. The control interface 204 can receive informationfrom the other functional units or from external sources, or cantransmit information to the other functional units or to externaldestinations. The external sources and the external destinations referto sources and destinations external to the robotic system 100.

The control interface 204 can be implemented in different ways and caninclude different implementations depending on which functional units orexternal units are being interfaced with the control interface 204. Forexample, the control interface 204 can be implemented with a pressuresensor, an inertial sensor, a microelectromechanical system (MEMS),optical circuitry, waveguides, wireless circuitry, wireline circuitry,an application programming interface, or a combination thereof.

The storage unit 206 can store the software 210. For illustrativepurposes, the storage unit 206 is shown as a single element, although itis understood that the storage unit 206 can represent a number ofdevices and a distribution of storage elements. Also for illustrativepurposes, the robotic system 100 is shown with the storage unit 206 as asingle hierarchy storage system, although it is understood that therobotic system 100 can have the storage unit 206 in a differentconfiguration. For example, the storage unit 206 can be formed withdifferent storage technologies forming a memory hierarchal systemincluding different levels of caching, main memory, rotating media, oroff-line storage. Also for example, the storage unit 206 can bedistributed between the controller 112, the robotic unit 110, thegripper 122, or a combination thereof. The software 210 can also bedistributed between the controller 112, the robotic unit 110, thegripper 122, or a combination thereof.

The storage unit 206 can be a volatile memory, a nonvolatile memory, aninternal memory, an external memory, or a combination thereof. Forexample, the storage unit 206 can be a nonvolatile storage such asnon-volatile random access memory (NVRAM), Flash memory, disk storage,or a volatile storage such as static random access memory (SRAM).

The storage unit 206 can include a storage interface 208. The storageinterface 208 can be used for communication between the storage unit 206and other functional units of the robotic system 100. The storageinterface 208 can also be used for communication external to the roboticsystem 100. The storage interface 208 can receive information from theother functional units of the robotic system 100 or from externalsources, or can transmit information to the other functional units ofthe robotic system 100 or to external destinations. The external sourcesand the external destinations refer to sources and destinations externalto the robotic system 100.

The storage interface 208 can include different implementationsdepending on which functional units or external units are beinginterfaced with the storage unit 206. The storage interface 208 can beimplemented with technologies and techniques similar to theimplementation of the control interface 204.

The communication unit 212 can enable communication to and from therobotic system 100, including communication between portions of therobotic system 100, external devices, or a combination thereof. Forexample, the communication unit 212 can permit the robotic system 100 tocommunicate with an external device, such as an external computer, anexternal database, an external machine, an external peripheral device,or a combination thereof through a communication path 238.

The communication path 238 can span and represent a variety of networksand network topologies. For example, the communication path 238 caninclude wireless communication, wired communication, opticalcommunication, ultrasonic communication, or the combination thereof. Forexample, satellite communication, cellular communication, Bluetooth,Infrared Data Association standard (lrDA), wireless fidelity (WiFi), andworldwide interoperability for microwave access (WiMAX) are examples ofwireless communication that can be included in the communication path238. Cable, Ethernet, digital subscriber line (DSL), fiber optic lines,fiber to the home (FTTH), and plain old telephone service (POTS) areexamples of wired communication that can be included in thecommunication path 238.

Further, the communication path 238 can traverse a number of networktopologies and distances. For example, the communication path 238 caninclude direct connection, personal area network (PAN), local areanetwork (LAN), metropolitan area network (MAN), wide area network (WAN),or a combination thereof. The control unit 202 can further execute thesoftware 210 for interaction with the communication path 238 via thecommunication unit 212.

The communication unit 212 can also function as a communication huballowing the robotic system 100 to function as part of the communicationpath 238 and not be limited to be an end point or terminal unit to thecommunication path 238. The communication unit 212 can include activeand passive components, such as microelectronics or an antenna, forinteraction with the communication path 238.

The communication unit 212 can include a communication interface 214.The communication interface 214 can be used for communication betweenthe communication unit 212 and other functional units of the roboticsystem 100. The communication interface 214 can receive information fromthe other functional units of the robotic system 100 or from externalsources, or can transmit information to the other functional units ofthe robotic system 100 or to external destinations. The communicationinterface 214 can include different implementations depending on whichfunctional units are being interfaced with the communication unit 212.The communication interface 214 can be implemented with technologies andtechniques similar to the implementation of the control interface 204.

The control unit 202 can operate the user interface 216 to present orreceive information generated by the robotic system 100. The userinterface 216 can include an input device and an output device. Examplesof the input device of the user interface 216 can include a keypad, atouchpad, soft-keys, a keyboard, a microphone, sensors for receivingremote signals, a camera for receiving motion commands, or anycombination thereof to provide data and communication inputs. Examplesof the output device can include a display interface 218 and an audiointerface 232.

The display interface 218 can be any graphical user interface such as adisplay, a projector, a video screen, or any combination thereof. Theaudio interface 232 can include speakers, microphones, headphones,subwoofers, sound components, transducers, or any combination thereof.The display interface 218 and the audio interface 232 allow a user ofthe robotic system 100 to interact with the robotic system 100. Thedisplay interface 218 and the audio interface 232 can be optional.

The robotic system 100 can also include the actuation unit 220. Theactuation unit 220 can include devices, for example, motors, springs,gears, pulleys, chains, rails, wires, artificial muscles, electroactivepolymers, or a combination thereof, configured to drive, manipulate,displace, orient, re-orient, or a combination thereof, the structuralmembers or mechanical components of the robotic system 100 about or at acorresponding mechanical joint. The control unit 202 can operate theactuation unit 220, to control or manipulate the actuation unit 220.

For illustrative purposes, the actuation unit 220 is shown as a singleelement, although it is understood that the actuation unit 220 canrepresent a number of devices and be a distribution of actuators. Forexample, the actuation unit 220 can be distributed throughout therobotic system 100. Also for example, the actuation unit 220 can bedistributed throughout the robotic unit 110, the gripper 122, or acombination thereof.

The actuation unit 220 can include an actuation interface 222. Theactuation interface 222 can be used for communication between theactuation unit 220 and other functional units of the robotic system 100,the robotic unit 110, the gripper 122, or a combination thereof. Theactuation interface 222 can also be used for communication that isexternal to the robotic system 100. The actuation interface 222 canreceive information from the other functional units of the roboticsystem 100 or from external sources, or can transmit information to theother functional units or to external destinations. The actuationinterface 222 can function as a source for the actuation process, suchas gas lines.

The actuation interface 222 can include different implementationsdepending on which functional units of the robotic system 100 orexternal units are being interfaced with the actuation unit 220. Theactuation interface 222 can be implemented with technologies andtechniques similar to the implementation of the control interface 204.The actuation interface 222 can also be implemented with pneumatic orgas devices.

The robotic system 100 can include the sensor unit 230 configured toobtain sensor readings 246 used to execute the tasks and operations,such as for manipulating the structural members of the robotic system100, the robotic unit 110, the gripper 122, or a combination thereof.The sensor unit 230 can also be configured to obtain the sensor readings246 for portions of the robotic system 100. For example, the sensor unit230 can obtain the sensor readings 246 for the robotic unit 110, thegripper 122, or a combination thereof. Also for example, the sensor unit230 can obtain the sensor readings 246 for items operated upon by therobotic system 100, the robotic unit 110, the gripper 122, or acombination thereof. As a specific example, the sensor unit 230 canobject sensor readings 246 for the target object 120 of FIG. 1 .

The sensor readings 246 can include information or data from the sensorunit 230 to detect events or changes in the environment of the roboticsystem 100 and to send the information to portions of the robotic system100, external devices, or a combination thereof to facilitate the tasks.Examples for the sensor readings 246 can include image readings, opticalreadings, pressure reading, distance reading, or a combination thereof.

For illustrative purposes, the sensor unit 230 is shown as a singleelement, although it is understood that the sensor unit 230 canrepresent a number of devices. For example, the actuation unit 220 canbe distributed throughout the robotic system 100. Also for example, theactuation unit 220 can be distributed throughout the robotic unit 110,the gripper 122, or a combination thereof.

The sensor unit 230 can include a sensor interface 224. The sensorinterface 224 can be used for communication between the sensor unit 230and other portions of the robotic system 100. The sensor interface 224can also be used for communication that is external to the roboticsystem 100. The sensor interface 224 can receive information from theother portions of the robotic system 100 or from external sources, orcan transmit information to the other portions of the robotic system 100or to external destinations. As a specific example, the sensor interface224 can provide communication with and between the robotic unit 110, thegripper 122, or a combination thereof as well as with the other portionsof the robotic system 100.

The sensor interface 224 can include different implementations dependingon which functional units of the robotic system 100 or external unitsare being interfaced with the sensor unit 230. The sensor interface 224can be implemented with technologies and techniques similar to theimplementation of the control interface 204.

Referring now to FIG. 3 , therein is shown a top perspective view of anexample of the gripper 122 with the target object 120 in an embodimentof the robotic system 100 of FIG. 1 . The gripper 122 and the targetobject 120 can represent instances of the target object 120 as shown inFIG. 1 .

The gripper 122 provides the handling and grasping mechanism of therobotic system 100, or as a specific example the robotic unit 110 ofFIG. 1 . The robotic system 100 can also utilize the gripper 122 ordifferent configurations of the gripper 122 in other portions of therobotic system 100, such as the unloading unit 102 of FIG. 1 .

In this example, this view of the gripper 122 is shown with covers 302and a mounting plate 304. The covers 302 assist in enclosing theinternals of the gripper 122. The mounting plate 304 provides anattachment mechanism to the robotic system 100, or as a specific examplethe robotic unit 110. The mounting plate 304 can include a mounting hole306 at a central region of the mounting plate 304 for an attachment withthe robotic system 100, or as a specific example the robotic unit 110.

In this example, the covers 302 are shown with two sets of pair of thecovers 302 at opposite sides of the mounting plate 304. Each of the pairof the covers 302 are located in a perpendicular configuration to theother pair. The mounting plate 304 is located in a central regionbetween the covers 302.

For clarity of reference, the x-axis refers to the direction along thelongest side of the covers 302 as shown in FIG. 3 and along the sameside of the gripper 122. The y-axis refers to the direction along theshorter side of the covers 302 as shown in FIG. 3 . The y-axis alsorefers to the direction perpendicular to the x-axis. Both the x-axis andthe y-axis are along the same plane as the covers. The z-axis refers tothe direction perpendicular to both the x-axis and the y-axis. As anexample, the origin of the x-axis, the y-axis, and the z-axis can be atthe center of the mounting hole 306. The origin refers to the zero valuefor the x-axis, the y-axis, and the z-axis or where these axesintersect.

The term “horizontal” is defined hereinafter as the plane parallel tothe x-y plane. The term “vertical” is defined hereinafter as the planeperpendicular to the horizontal.

As an example, the gripper 122 can also include a frame 308. The frame308 provides the structure rigidity and grasping limitations for thegripper 122. The mounting plate 304, the covers 302, or a combinationthereof can be attached to the frame 308. The frame 308 can be formedfrom a single structure or can be formed from segmented portion that areattached together.

Continuing with the description of the gripper 122, the gripper 122 isshown in FIG. 3 to include a first grasping blade 310, a second graspingblade 312, and a third grasping blade 314. The first grasping blade 310,the second grasping blade 312, the third grasping blade 314, or acombination thereof can be used to secure the target object 120. Thetarget object 120 includes walls 316 along the vertical axis. The walls316 can include an object top 318, which are along the horizontal axis.

In this example, the first grasping blade 310 and the second graspingblade 312 are shown at opposite ends of the gripper 122. The firstgrasping blade 310 and the second grasping blade 312 are shown parallelto each other. Also in this example, the third grasping blade 314 isshown at a side of the gripper 122 perpendicular to the sides where thefirst grasping blade 310 and the second grasping blade 312 areconfigured.

Also, the first grasping blade 310 along a line parallel to the y-axiscan extend beyond the frame 308 along the y-axis. The second graspingblade 312 along a line parallel to the y-axis can extend beyond theframe 308 along a line parallel to the y-axis. In other words, the firstgrasping blade 310 and the second grasping blade 312 can be wider thanthe width of the frame 308 in that, along the line parallel to they-axis, the lateral extent of the first grasping blade 310 and thelateral extent of the second grasping blade 312 can extend beyond thelateral extent of the frame 308. Similarly, the third grasping blade 314along a line parallel to the x-axis can extend beyond the frame 308along a line parallel to the x-axis. In other words, the third graspingblade 314 can be wider than the width of the frame 308 in that, alongthe line parallel to the x-axis, the lateral extent of the thirdgrasping blade 308 can extend beyond the lateral extent of the frame308. However, it is understood that the first grasping blade 312, thesecond grasping blade 312, the third grasping blade 314, or acombination thereof can be in different configurations such that therespective widths are less than the width of the frame 308 along therespective y-axis and x-axis.

The second grasping blade 312 includes a second blade bottom 322. Thesecond blade bottom 322 is at a side of the second grasping blade 312located away from the frame 308. Similarly, the third grasping blade 314includes a third blade bottom 324. The third blade bottom 324 is at aside of the third blade bottom 324 located away from the frame 308.

The example in FIG. 3 also depicts the first grasping blade 310including a first sensor bracket 326. The first sensor bracket 326 isalong a first vertical side of the first grasping blade 310. The firstsensor bracket 326 provides a mounting mechanism for a first actuator328 to be attached to the first grasping blade 310 at that location. Thefirst actuator 328 can help secure the target object 120 by pressing onthe object top 318.

FIG. 3 also depicts the second grasping blade 312 including a secondsensor bracket 330. The second sensor bracket 330 is along a secondvertical side of the second grasping blade 312. The second sensorbracket 330 provides a mounting mechanism for a second actuator 332 tobe attached to the second grasping blade 312 at that location. Thesecond actuator 332 can help secure the target object 120 by pressing onthe object top 318.

In this example shown, the first sensor bracket 326 and the secondsensor bracket 330 are at opposite ends of the gripper 122. Similarly,the first actuator 328 and the second actuator 332 are at oppositevertical ends of the gripper 122.

As a further example, the first actuator 328 can optionally adjust thelocation of some of the sensor unit 230 of FIG. 2 located at the firstgrasping blade 310. The second actuator 332 can optionally adjust thelocation of some of the sensor unit 230 of FIG. 2 located at the secondgrasping blade 312. The first actuator 328, the second actuator 332, andthe sensor unit 230 will be further described later.

The perspective view shown in FIG. 3 also depicts a third actuator 334and a fourth actuator 336. In this example, the third actuator 334 has asimilar function as the first actuator 328. Also for example, the thirdactuator 334 is located at the opposite end of the first grasping blade310 as the first actuator 328 along a line parallel to the y-axis.

Also in this example, the fourth actuator 336 has a similar function asthe second actuator 332. Also for example, the fourth actuator 336 islocated at the opposite vertical end of the second grasping blade 312 asthe second actuator 332.

Now moving to the description to the target object 120, FIG. 3 depictsthe gripper 122 over the target object 120. Also shown in FIG. 3 is thefirst grasping blade 310, the second grasping blade 312, and the thirdgrasping blade 314 next to the walls 316.

In this example, the walls 316 are parallel in a vertical configuration.The walls 316 provide grasping structures for the gripper 122 to securethe target object 120. Each or some of the walls 316 can include indents338 to assist in securing the target object 120 with the gripper 122, oras a specific example the first grasping blade 310, the second graspingblade 312, the third grasping blade 314, or a combination thereof. Theindents 338 are recessed portions of or openings in the walls 316. Thegripper 122 and the use of the indents 338 will be further describedlater.

Referring now to FIG. 4 , therein is shown a top perspective viewexposing a portion of an interior of the gripper 122. The gripper 122can represent the example shown in FIG. 3 but rotated approximately 180degrees along the z-axis as shown in FIG. 3 .

In this example, the exposed interior depicts a blade actuator 402. Theblade actuator 402 provides linear displacement based on the movement ofa displacement rod 404 attached at one end of the blade actuator 402 andthe corresponding displacement of the blade actuator 402 at the otherend.

Along one end of the blade actuator 402, the blade actuator 402 isattached to the displacement rod 404, which is connected to a firsttransfer bracket 406. At the opposite end, the blade actuator 402 isattached to a second transfer bracket 408.

The first transfer bracket 406 is used to impart the displacement fromthe blade actuator 402. As an example, the blade actuator 402 can causemovement to the displacement rod 404 and imparting that movement withthe first transfer bracket 406 to the first grasping blade 310. In thisexample, the first transfer bracket 406 can be connected to a horizontalportion of the first grasping blade 310.

The second transfer bracket 408 is also used to impart the displacementfrom the blade actuator 402. As an example, the blade actuator 402 cancause movement to the second transfer bracket 408 in an oppositedirection to the first transfer bracket 406. In this example, the secondtransfer bracket 408 can be connected to a horizontal portion of thesecond grasping blade 312.

The first transfer bracket 406 can be connected to a first blade limiter410. The first blade limiter 410 bounds the extent to which the firstgrasping blade 310 can extend along the direction parallel to the x-axisand along the direction away from the second grasping blade 312.

As an example, the first blade limiter 410 can be a screw or anextendable rod. In this example, the first blade limiter 410 can includea first stopper 412 facing the frame 308. The location of the firststopper 412 can be adjusted by the screw or extendable rod position ofthe first blade limiter 410 relative to the first transfer bracket 406.The first stopper 412 limits the movement of the first transfer bracket406, the first grasping blade 310, or a combination thereof when thefirst stopper 412 makes contact with the interior of the frame 308.

The second transfer bracket 408 can be connected to a second bladelimiter 414. The second blade limiter 414 bounds the extent to which thesecond grasping blade 312 can extend along the direction parallel to thex-axis and along the direction away from the first grasping blade 310.

As an example, the second blade limiter 414 can be a screw or anextendable rod. In this example, the second blade limiter 414 caninclude a second stopper 416 facing the frame 308. The location of thesecond stopper 416 can be adjusted by the screw or extendable rodposition of the second blade limiter 414 relative to the second transferbracket 408. The second stopper 416 limits the movement of the secondtransfer bracket 408, the second grasping blade 312, or a combinationthereof when the second stopper 416 makes contact with the interior ofthe frame 308.

For illustrative purposes, the gripper 122 is described with the bladeactuator 402 configured with the displacement rod 404 connected to thefirst transfer bracket 406, although it is understood that the gripper122 can be configured differently. For example, the blade actuator 402can connect to the first transfer bracket 406 without the displacementrod 404 or the displacement rod 404 being optional. Also for example,the blade actuator 402 can have the displacement rod 404 connected tothe second transfer bracket 408, which is in turn connected to thesecond grasping blade 312.

Continuing the displacement description, the gripper 122 can include anactuation wheel 418 for imparting the displacement of the first graspingblade 310, the second grasping blade 312, or a combination thereof tothe third grasping blade 314 of FIG. 3 , a fourth grasping blade 420, ora combination thereof. In this example, a first wheel rod 422 connectsthe horizontal portion of the first grasping blade 310 to the actuationwheel 418. The first wheel rod 422 transfers the displacement to andfrom the actuation wheel 418. The actuation wheel 418 and the transferto displacement will be further described later.

Now describing a different portion of the gripper 122, the fourthgrasping blade 420 is shown at a side of the gripper 122 perpendicularto the sides where the first grasping blade 310 and the second graspingblade 312 are configured. The fourth grasping blade 420 includes afourth blade bottom 424. The fourth blade bottom 424 is at a sidelocated away from the frame 308.

The example in FIG. 4 also depicts the first grasping blade 310including a third sensor bracket 426. The third sensor bracket 426 isalong a vertical side of the first grasping blade 310 and located at anopposite side where the first sensor bracket 326 of FIG. 3 is located.The third sensor bracket 426 provides a mounting mechanism for the thirdactuator 334 to be attached to the first grasping blade 310 at thatlocation.

FIG. 4 also depicts the second grasping blade 312 including a fourthsensor bracket 428. The fourth sensor bracket 428 is along a verticalside of the second grasping blade 312 and located at an opposite sidewhere the second sensor bracket 330 of FIG. 3 is located. The fourthsensor bracket 428 provides a mounting mechanism for the fourth actuator336 to be attached to the second grasping blade 312 at that location.

In this example shown, the third sensor bracket 426 and the fourthsensor bracket 428 are at opposite ends of the gripper 122 along a lineparallel to the x-axis. Similarly, the third actuator 334 and the fourthactuator 336 are at opposite ends of the gripper 122 along a lineparallel to the x-axis.

As a further example, the third actuator 334 can optionally adjust thelocation of some of the sensor unit 230 of FIG. 2 located at the firstgrasping blade 310. The fourth actuator 336 can optionally adjust thelocation of some of the sensor unit 230 of FIG. 2 located at the secondgrasping blade 312. The third actuator 334, the fourth actuator 336, andthe sensor unit 230 of FIG. 2 will be further described later.

The perspective view shown in FIG. 3 also depicts the first actuator 328and the second actuator 332. The example shown in FIG. 4 depicts anumber of the target object 120 stacked on top of another. In thisexample, the gripper 122 is shown not yet securing any of the targetobject 120.

FIG. 4 also depicts protrusions 430 on the second grasping blade 312 andthe fourth grasping blade 420. The protrusions 430 are physical featuresfor the gripper 122 to secure and assist lifting the target object 120.The protrusions 430 can be placed or located to fit into the indents 338along the walls 316 of the target object 120. The protrusions 430 canalso be placed or located proximate to regions of the walls 316 withoutone of the indents 338.

For example, the protrusions 430 can be integral to the second graspingblade 312 as well as the fourth grasping blade 420. Also for example,the protrusions 430 can separate from and attached to the secondgrasping blade 312 as well as the fourth grasping blade 420.

The perspective view of FIG. 4 depicts one of the protrusions 430 on thesecond grasping blade 312 and another one on the fourth grasping blade420. However, the second grasping blade 312 can include more than one ofthe protrusions 430. Similarly, the fourth grasping blade 420 can alsoinclude more than one of the protrusions 430. Further, the firstgrasping blade 310 can also include one or more of the protrusions 430,although not shown in FIG. 4 . Similarly, the third grasping blade 314can also include one or more of the protrusions 430, although not shownin FIG. 4 .

In this example, the first grasping blade 310 and the second graspingblade 312 are shown to be at the same level as the fourth grasping blade420 to secure the target object 120. Similarly in the example shown inFIG. 3 , the first grasping blade 310 and the second grasping blade 312at the same level as the third grasping blade 314 to secure the targetobject 120.

For illustrative purposes, the gripper 122 is shown to be configuredwith the first grasping blade 310, the second grasping blade 312, thethird grasping blade 314 of FIG. 3 , and the fourth grasping blade 420at the same level to secure the target object 120, although it isunderstood that the gripper 122 can be configured differently. Forexample, the first grasping blade 310, the second grasping blade 312,the third grasping blade 314, and the fourth grasping blade 420 can eachbe at a different level depending on the configuration, weightdistribution, height, or a combination thereof of the target object 120.Also for example, the some of the first grasping blade 310, the secondgrasping blade 312, the third grasping blade 314, the fourth graspingblade 420, or a combination thereof can be at the same level while theothers being at a different level.

Also for illustrative purposes, the gripper 122 is shown with the firstgrasping blade 310, the second grasping blade 312, the third graspingblade 314, and the fourth grasping blade 420 at the same level to securethe target object 120, although it is understood that the gripper 122can be configured differently. For example, the first grasping blade 310and the second grasping blade 312 can be at the same level to secure thetarget object 120 in the stack. Continuing with the same example, thethird grasping blade 314 and the fourth grasping blade 420 can be at thesame level but different from the first grasping blade 310 and thesecond grasping blade 312 to secure a different instance of the targetobject 120 in the stack.

Referring now to FIG. 5 , therein is shown a top perspective view of thegripper 122 positioning with the target object 120. The example shown inFIG. 5 can represent the gripper 122 of FIG. 4 but in a different anglefor the perspective view.

In this example, the first grasping blade 310 and the second graspingblade 312 include a first slot 502 and a second slot 504, respectively.The first slot 502 is located along and proximate a vertical side. Thesecond slot 504 is located along and proximate a vertical side. As aspecific example, the first slot 502 and the second slot 504 can belocated facing each other or along a horizontal line.

Continuing with the example, the first grasping blade 310 and the secondgrasping blade 312 can also include a third slot 506 and a fourth slot508, respectively. The third slot 506 is located along and proximate avertical side. The fourth slot 508 is located along and proximate avertical side. As a specific example, the third slot 506 and the fourthslot 508 can be located facing each other or along a horizontal line.

The first grasping blade 310 and the second grasping blade 312 caninclude the sensor unit 230 of FIG. 2 located in the first slot 502, thesecond slot 504, the third slot 506, the fourth slot 508, or acombination thereof. As previously discussed, the sensor unit 230 canprovide or generate the sensor readings 246 of FIG. 2 .

As a specific example, the sensor unit 230 can include a first positionsensor 510, a second position sensor 512, a third position sensor 514, afourth position sensor 516, or a combination thereof. Also as a specificexample, the sensor readings 246 can include a first position reading518, a second position reading 520, a third position reading 522, afourth position reading 524, or a combination thereof.

The first position sensor 510 can provide location information of thefirst grasping blade 310 relative to the target object 120 to therobotic system 100 of FIG. 1 , or as a specific example to the roboticunit 110 of FIG. 1 , the controller 112 of FIG. 1 , or a combinationthereof. As a specific example, the first position sensor 510 canprovide location information of the first blade bottom 320 relative tothe object top 318 of the target object 120.

As a specific example, the first position sensor 510 can be an opticalsensor and can generate the first position reading 518. The firstposition reading 518 can indicate that the first position sensor 510 hasdetected that the first position sensor 510 is below the object top 318.

The second position sensor 512 can provide location information of thesecond grasping blade 312 relative to the target object 120 to therobotic system 100, or as a specific example to the robotic unit 110,the controller 112, or a combination thereof. As a specific example, thesecond position sensor 512 can provide location information of thesecond blade bottom 322 relative to the object top 318 of the targetobject 120.

As a specific example, the second position sensor 512 can be an opticalsensor and can generate the second position reading 520. The secondposition reading 520 can indicate that the second position sensor 512has detected that the second position sensor 512 is below the object top318.

The third position sensor 514 can provide location information of thefirst grasping blade 310 relative to the target object 120 to therobotic system 100, or as a specific example to the robotic unit 110,the controller 112, or a combination thereof. As a specific example, thethird position sensor 514 can provide location information of the firstblade bottom 320 relative to the object top 318 of the target object120.

As a specific example, the third position sensor 514 can be an opticalsensor and can generate the third position reading 522. The thirdposition reading 522 can indicate that the third position sensor 514 hasdetected that the third position sensor 514 is below the object top 318.

The fourth position sensor 516 can provide location information of thesecond grasping blade 312 relative to the target object 120 to therobotic system 100, or as a specific example to the robotic unit 110,the controller 112, or a combination thereof. As a specific example, thefourth position sensor 516 can provide location information of thesecond blade bottom 322 relative to the object top 318 of the targetobject 120.

As a specific example, the fourth position sensor 516 can be an opticalsensor and can generate the fourth position reading 524. The fourthposition reading 524 can indicate that the fourth position sensor 516has detected that the fourth position sensor 516 is below the object top318.

As an example, the first position sensor 510 can be located within thefirst slot 502 to achieve the predetermined distance between the firstblade bottom 320 and the object top 318. Similarly, the third positionsensor 514 can be located within the third slot 506 to achieve thepredetermined distance between the first blade bottom 320 and the objecttop 318.

Also for example, the second position sensor 512 can be located withinthe second slot 504 to achieve the predetermined distance between thesecond blade bottom 322 and the object top 318. Similarly, the fourthposition sensor 516 can be located within the fourth slot 508 to achievethe predetermined distance between the second blade bottom 322 and theobject top 318.

As a more specific example, the first position sensor 510 can operatewith the second position sensor 512 to determine if both are below theobject top 318. In other words, the first position sensor 510 and thesecond position sensor 512 can operate such that one is generating anoptical beam while the other is receiving the optical beam. While thisoptical beam is not broken, the first position reading 518, the secondposition reading 520, or a combination thereof can indicate that thefirst position sensor 510, the second position sensor 512, or acombination thereof are above the object top 318. When the optical beamis broken, the first position reading 518, the second position reading520, or a combination thereof can indicate that the first positionsensor 510, the second position sensor 512, or a combination thereof arebelow the object top 318.

Similarly as a more specific example, the third position sensor 514 canoperate with the fourth position sensor 516 to determine if both arebelow the object top 318. In other words, the third position sensor 514and the fourth position sensor 516 can operate such that one isgenerating an optical beam while the other is receiving the opticalbeam. While this optical beam is not broken, the third position reading522, the fourth position reading 524, or a combination thereof canindicate that the third position sensor 514, the fourth position sensor516, or a combination thereof are above the object top 318. When theoptical beam is broken, the third position reading 522, the fourthposition reading 524, or a combination thereof can indicate that thethird position sensor 514, the fourth position sensor 516, or acombination thereof are below the object top 318.

In this example, the gripper 122 is shown as not securing or not havinggrasped onto the target object 120. As an example, the robotic system100, or as a specific example the robotic unit 110, the controller 112,or a combination thereof, can lower the gripper 122 such that the firstposition reading 518, the second position reading 520, the thirdposition reading 522, the fourth position reading 524, or a combinationthereof can contribute to an indication of a stable condition 526depicted in FIG. 5 as a planar rhomboid to represent planarity forstability.

The stable condition 526 reflects the location of the gripper 122relative to the target object 120 to be grasped and perhaps moved. As anexample, the stable condition 526 can be based on the first positionreading 518 working in conjunction with the second position reading 520.As a specific example, the stable condition 526 can be negated or lostwhen an optical beam is broken at different times between the firstposition sensor 510 and the second position sensor 512 as indicated bythe first position reading 518, the second position reading 520, or acombination thereof.

The timing and tolerance of when the optical beam is broken to determinethe stable condition 526 or not can vary based on a number of factors.For example, the speed in which the gripper 122 is lowered towards thetarget object 120 can determine a range of time where being within therange of time in which the optical beam is broken can be determined asthe stable condition 526 while being outside of the range of time can bedetermined as not in the stable condition 526. Also for example, themechanical rigidity along the horizontal plane of the gripper 122 beingheld by the robotic unit 110 of FIG. 1 can also provide a tolerancespecification for the range of time similarly as described above.

As a further example, the stable condition 526 can be based the thirdposition reading 522 working in conjunction with the fourth positionreading 524. As a specific example, the stable condition 526 can benegated or lost when an optical beam is broken at different timesbetween the third position sensor 514 and the fourth position sensor 516as indicated by the third position reading 522, the fourth positionreading 524, or a combination thereof.

As yet a further example, the stable condition 526 can be based thefirst position reading 518 working in conjunction with the secondposition reading 520 as well as the third position reading 522 workingin conjunction with the fourth position reading 524. As a specificexample, the stable condition 526 can be negated or lost when bothoptical beams are broken at different times between the first positionsensor 510 and the second position sensor 512 as well as between thethird position sensor 514 and the fourth position sensor 516.

Also for example, the first position sensor 510, the second positionsensor 512, the third position sensor 514, the fourth position sensor516, or a combination thereof can also provide a range sensing function.In this example, the first position reading 518, the second positionreading 520, the third position reading 522, the fourth position reading524, or a combination thereof can provide distance information from thetarget object 120, the walls 316 of FIG. 3 , the indents 338 of FIG. 8 ,or a combination thereof. The range sensing function can allow therobotic system 100, the controller 112 of FIG. 1 , the gripper 122, or acombination thereof to control the distance for the actuation of thefirst grasping blade 310 of FIG. 3 , the second grasping blade 312 ofFIG. 3 , the third grasping blade 314 of FIG. 3 , the fourth graspingblade 420 of FIG. 4 , or a combination thereof to secure the targetobject 120.

As a further example, the first actuator 328 of FIG. 3 can optionallyadjust the location of the first position sensor 510 within the firstslot 502 to achieve the predetermined distance between the first bladebottom 320 and the object top 318. As a specific example, the firstactuator 328 can adjust the first position sensor 510 up or down withinthe first slot 502 to accommodate different dimensions of the object top318 relative to the indents 338 as well as the first blade bottom 320.

Similarly, the third actuator 334 can optionally adjust the location ofthe third position sensor 514 within the third slot 506 to achieve thepredetermined distance between the first blade bottom 320 and the objecttop 318. As a specific example, the third actuator 334 can adjust thethird position sensor 514 up or down within the third slot 506 toaccommodate different dimensions of the object top 318 relative to theindents 338 as well as the first blade bottom 320.

Continuing with the further example, the second actuator 332 of FIG. 3can optionally adjust the location of the second position sensor 512within the second slot 504 to achieve the predetermined distance betweenthe second blade bottom 322 and the object top 318. As a specificexample, the second actuator 332 can adjust the second position sensor512 up or down within the second slot 504 to accommodate differentdimensions of the object top 318 relative to the indents 338 as well asthe second blade bottom 322.

Similarly, the fourth actuator 336 can optionally adjust the location ofthe fourth position sensor 516 within the fourth slot 508 to achieve thepredetermined distance between the second blade bottom 322 and theobject top 318. As a specific example, the fourth actuator 336 canadjust the fourth position sensor 516 up or down within the fourth slot508 to accommodate different dimensions of the object top 318 relativeto the indents 338 as well as the second blade bottom 322.

For illustrative purposes, the gripper 122 is described with aconfiguration with the first position sensor 510 and the third positionsensor 514 attached to the first grasping blade 310 while the secondposition sensor 512 and the fourth position sensor 516 are attached tothe second grasping blade 312, although it is understood that thegripper 122 can be configured differently. For example, the gripper 122can be configured with one of the aforementioned position sensors to beattached to the first grasping blade 310 and the second grasping blade312 at the central region thereof as opposed to proximate to the edges.Also for example, the gripper 122 can be configured with the thirdgrasping blade 314 of FIG. 3 and the fourth grasping blade 420 to alsohave one or more of the aforementioned position sensors attached theretoand not just the first grasping blade 310 and the second grasping blade312.

It has been discovered that the gripper 122, the robotic unit 110 ofFIG. 1 , the controller 112 of FIG. 1 , the robotic system 100 of FIG. 1, or a combination thereof can provide improved accuracy for securegrasping of the target object 120 with minimal space requirements. Thefirst grasping blade 310 and the second grasping blade 312 include slotsfor the first position sensor 510 and the third position sensor 514, andthe second position sensor 512 and the fourth position sensor 516,respectively. The use of the slots eliminates the need for separatephysical space for the position sensors beyond what is already requiredand used for the first grasping blade 310 and the second grasping blade312. The first position sensor 510 and the third position sensor 514working in conjunction with the second position sensor 512 and thefourth position sensor 516, respectively, can ensure that the graspingblades and the protrusions 430 are located in the correct locationsbefore the gripper 122 closes or chucks. The first position reading 518,the second position reading 520, the third position reading 522, thefourth position reading 524, or a combination thereof from the firstposition sensor 510, the second position sensor 512, the third positionsensor 514, and the fourth position sensor 516, relatively, can be usedto determine the stable condition 526 for the gripper 122 to secure thetarget object 120.

Referring now to FIG. 6 , therein is shown a detailed view of a portionof the gripper 122 of FIG. 5 positioning with the target object 120. Inthis example, the detailed view depicts the second grasping blade 312and the fourth grasping blade 420. The second grasping blade 312 isshown with the second slot 504 and the fourth slot 508.

In this example, the second slot 504 and the fourth slot 508 areproximate to the opposite vertical sides of the second grasping blade312. The fourth slot 508 is shown extending vertically allowing for theadjustment of the height or location of the fourth position sensor 516,which can be performed manually or by the fourth actuator 336. Thesecond slot 504 is also shown extending vertically allowing for theadjustment of the height or location of the second position sensor 512,which can be performed manually or by the second actuator 332 of FIG. 4.

FIG. 6 depicts the one of the protrusions 430 extending from the secondgrasping blade 312. In this example, the protrusions 430 do not blockthe fourth slot 508 or other slots. Also, the protrusions 430 do notimpede the functions of the fourth position sensor 516 or the otherposition sensors. As a specific example, the protrusions 430 are belowthe locations of the fourth position sensor 516 as well as the otherposition sensors.

In this example, the fourth position sensor 516 and the second positionsensor 512 are positioned at about the object top 318. At this positionof the gripper 122 relative to the target object 120, the protrusions430 are below the object top 318 allowing the gripper 122 to secure thetarget object 120 with the protrusions 430 contacting the walls 316.

FIG. 6 also depicts one of the walls 316 including an orientationfeature 602. The orientation feature 602 is a structural characteristicor configuration of the target object 120 indicating the placement orrotation along the horizontal plane. While the first position sensor 510of FIG. 5 , the second position sensor 512, the third position sensor514 of FIG. 5 , the fourth position sensor 516, or a combination thereofaides with the gripper 122, the robotic unit 110 of FIG. 1 , thecontroller 112 of FIG. 1 , the robotic system 100 of FIG. 2 , or acombination thereof to determine the stable condition 526 of FIG. 5based on the vertical position, the orientation feature 602 allows thegripper 122, the robotic unit 110, the controller 112, the roboticsystem 100, or a combination thereof to determine a valid orientation604 along the horizontal plane. The valid orientation 604 is depicted inFIG. 6 as a rotation orientation around a line parallel to the z-axis.

The valid orientation 604 allows the determination that the targetobject 120 is in the correct horizontal placement, horizontal rotation,or a combination thereof to ensure the gripper 122 can securely andappropriately grasp the target object 120. The valid orientation 604 canbe utilized by the gripper 122, the robotic unit 110, the controller112, the robotic system 100, or a combination thereof in thedetermination of the stable condition 526. The orientation feature 602will be further described later.

Referring now to FIG. 7 , therein is shown a perspective view of thegripper 122 orienting to the target object 120. The example shown inFIG. 7 can represent the gripper 122 of FIG. 5 and of the target object120 of FIG. 5 but viewed at a different angle for the perspective view.

The view of this example depicts the gripper 122 above the target object120 before being secured and while checking an orientation, thehorizontal positioning, or horizontal rotation of the gripper 122relative to the target object 120 or the target object 120 relative tothe gripper 122. In this example, an orientation sensor 702 is shown ata side of the gripper 122 proximate to the first grasping blade 310.

The orientation sensor 702 generates an orientation reading 704 withrespect to the item being checked. The orientation reading 704 providesinformation about the horizontal positioning or horizontal rotation forthe item being checked. In this example, the gripper 122, the roboticunit 110 of FIG. 1 , the controller 112 of FIG. 1 , the robotic system100 of FIG. 2 , or a combination thereof can utilize the orientationreading 704 to determine whether the target object 120 is in the validorientation 604 of FIG. 6 .

Continuing with the orientation sensor 702 in this example, theorientation sensor 702 can be a device extending from the horizontalportion of the first grasping blade 310. The orientation sensor 702 canbe an optical sensor, a mechanical sensor, an electrical sensor, animage sensor, or a combination thereof. In this example, the orientationsensor 702 can include an extension 706, a support 708, and a detector710.

The extension 706 provides an attachment and a distance displacementfrom the horizontal portion of the first grasping blade 310. Theextension 706 can provide mechanical function, electrical function,optical function, or a combination thereof. For example, the orientationsensor 702 can function as a mechanical sensor and the extension 706 canconvey mechanical information, such as pressure information, as detectedor measured by the detector 710 to generate the orientation reading 704.Also for example, the orientation sensor 702 can function as an opticalsensor and the extension 706 can convey optical information as detectedor measured by the detector 710 to generate the orientation reading 704.Further for example, the orientation sensor 702 can function as anelectrical sensor and the extension 706 can convey electricalinformation as detected or measured by the detector 710 to generate theorientation reading 704. Yet further for example, the extension 706 canmerely provide mechanical and structural support for the detector 710and not convey information for the generation of the orientation reading704.

The support 708 provides the transition from the extension 706 to thedetector 710. Also, the support 708 is coupled to the extension 706 andthe detector 710. The support 708 can provide mechanical function,electrical function, optical function, or a combination thereof. Forexample, the orientation sensor 702 can function as a mechanical sensorand the support 708 can convey mechanical, such as pressure information,as detected or measured by the detector 710 to generate the orientationreading 704.

Also for example, the orientation sensor 702 can function as an opticalsensor and the support 708, the extension 706, or a combination thereofcan convey optical information as detected or measured by the detector710 to generate the orientation reading 704. Further for example, theorientation sensor 702 can function as an electrical sensor and thesupport 708 can convey electrical information as detected or measured bythe detector 710 to generate the orientation reading 704. Yet furtherfor example, the support 708 can merely provide mechanical andstructural support for the detector 710 and not convey information forthe generation of the orientation reading 704.

The detector 710 provides information to generate or generates theorientation reading 704. The detector 710 can measure or detect theorientation feature 602 from the target object 120 to be grasped andmoved by the gripper 122. The detector 710 can provide mechanicalfunction, electrical function, optical function, or a combinationthereof.

For example, the orientation sensor 702 can function as a mechanicalsensor and the detector 710 can detect or measure mechanicaldisplacement or pressure change, or can convert to electricalinformation from detected or measured mechanical displacement orpressure change. Also for example, the orientation sensor 702 canfunction as an optical sensor and the detector 710 can detect or measureoptical change or reflection. Further for example, the orientationsensor 702 can function as an electrical sensor and the detector 710 canconvert detected or measured electrical characteristic or change basedon the orientation feature 602.

For illustrative purposes, the gripper 122 is described with theorientation sensor 702 providing detection for generation or generationof the orientation reading 704 based on mechanical function, opticalfunction, electrical function, or a combination thereof, although it isunderstood that the gripper 122 can be configured differently for theorientation sensor 702 to provide information to generate or to generatethe orientation reading 704. For example, the orientation sensor 702 canfunction as an image capture device allowing for the gripper 122, therobotic unit 110, the controller 112, the robotic system 100, or acombination thereof to recognize the image and determine a match ormismatch based on the orientation feature 602. Also for example, theorientation sensor 702 can function as an image capture device to allowthe gripper 122, the robotic unit 110, the controller 112, the roboticsystem 100, or a combination thereof to determine if a locationadjustment is required for the gripper 122, the target object 120, or acombination thereof based on the location of the orientation feature 602relative to the orientation sensor 702.

As an example, the vertical dimension of the extension 706 can be sizedfor the expected dimension to the target object 120 to be grasped by thegripper 122. Also for example, the horizontal dimension of the support708 can be sized for the expected dimension relative to the orientationfeature 602 and the target object 120 to be grasped by the gripper 122.Further for example, the vertical spacing of the detector 710 relativeto the extension 706, the support 708, or a combination thereof can besized for the expected dimension relative to the orientation feature 602and the target object 120 to be grasped by the gripper 122.

In this example, the target object 120 is being checked for theorientation feature 602. The orientation feature 602 is shown in each ofthe walls 316 at the opposite sides of the target object 120. As aspecific example, the orientation feature 602 is shown as a recess intothe walls 316 from the object top 318. The gripper 122, the robotic unit110, the controller 112 of FIG. 1 , the robotic system 100, or acombination thereof can check on or determine the valid orientation 604based on the gripper 122 being lowered to the range where the detector710 can function to detect, measure, or capture the orientation feature602.

The valid orientation 604 can be determined in a number of ways. Forexample, the detector 710, functioning as a mechanical device, cangenerate the orientation reading 704 based on the how far the gripper122 would need to be lowered for the detector 710 to detect a mechanicalchange or a pressure change. The lowered displacement of the gripper 122can be compared with the expected dimensions of the depth of theorientation feature 602. Also for example, the detector 710, functioningas an optical device, can detect whether the depth of the recess isdetected compared to the location or vertical position of the gripper122, the orientation sensor 702, the detector 710, or a combinationthereof. Further for example, the detector 710 can function as anelectrical sensor or an image sensor can provide the orientation reading704 to assist in determining the valid orientation 604 as previouslydescribed.

Returning to the overall view shown in FIG. 7 , the view of this exampledepicts the first grasping blade 310, the second grasping blade 312, thethird grasping blade 314, and the fourth grasping blade 420. The firstgrasping blade 310 and the second grasping blade 312 are shown with theprotrusions 430. One of the walls 316 facing the second grasping blade312 is shown with the indents 338 to allow a firm, robust, and securegrasp of the target object 120.

For illustrative purposes, the gripper 122 is shown with the orientationsensor 702 closest to the first grasping blade 310, although it isunderstood that the gripper 122 can be configured differently. Forexample, the gripper 122 can be configured with the orientation sensor702 proximate to the second grasping blade 312. Also for example, thegripper 122 can be configured with the orientation sensor 702 proximateto the second grasping blade 312 in addition to the one proximate thefirst grasping blade 310.

It has been discovered that the gripper 122, the robotic unit 110 ofFIG. 1 , the controller 112 of FIG. 1 , the robotic system 100 of FIG. 1, or a combination thereof can provide improved accuracy for securegrasping of the target object 120 with minimal space requirements. Thegripper 122 can include the orientation sensor 702 to obtain theorientation reading 704 regarding the target object 120. The orientationreading 704 allows for the determination of the valid orientation 604 ofthe target object 120 relative to the gripper 122 before the gripper 122closes or chucks. The orientation sensor 702 is within the boundaries ofthe gripper 122 thereby eliminating additional and separate physicalspace beyond the gripper 122. Further, the orientation feature 602 ofthe target object 120 also resides within the physical dimensions of thetarget object 120 thereby eliminating the need for additional andseparate space for the target object 120 and also for the orientationsensor 702 to function relative to the target object 120.

It has also been discovered that the gripper 122, the robotic unit 110,the controller 112, the robotic system 100, or a combination thereof canprovide improved robustness for secure grasping of the target object 120with minimal space requirements. The protrusions 430 shown in the secondgrasping blade 312, as an example, are located to align with the indents338 along the walls 316 at the location where the second grasping blade312 will contact when the gripper 122 closes or chucks. The fit of theprotrusions 430 within the indents 338 prevents slippage or drops of thetarget object 120 by the gripper 122. The protrusions 430 are facinginwards with respect to the gripper 122 and require no additionalphysical space outside the horizontal space beyond the gripper 122.

Referring now to FIG. 8 , therein is shown a detailed view of a portionof the gripper 122 of FIG. 7 orienting with the target object 120. Inthis example shown in FIG. 8 , the first grasping blade 310 is shownwith the first slot 502 and the third slot 506. The first positionsensor 510 and the third position sensor 514 are shown within the firstslot 502 and the third slot 506, respectively.

This example also depicts the orientation sensor 702 located at the sideof the gripper 122 proximate to the first grasping blade 310. Theorientation sensor 702 is shown with the extension 706, the support 708,and the detector 710. This example shows the detector 710 over theorientation feature 602 in one of the walls and providing theorientation reading 704 that would contribute to the determination ofthe valid orientation 604, the stable condition 526, or a combinationthereof.

Further in this example, FIG. 8 depicts the first position sensor 510and the third position sensor 514 about the level of the object top 318.For this example, the first position sensor 510 can generate the firstposition reading 518 and the third position sensor 514 can generate thethird position reading 522 that would contribute to the determination ofthe valid orientation 604, the stable condition 526, or a combinationthereof.

The checking or determination of the valid orientation 604 can bebefore, after, or concurrently with the vertical position verification.As an example, the first position reading 518, the second positionreading 520 of FIG. 5 , the third position reading 522, the fourthposition reading 524 of FIG. 5 , or a combination thereof can beutilized to perform the vertical position verification by the gripper122, the robotic unit 110, the controller 112 of FIG. 1 , the roboticsystem 100, or a combination thereof.

The term concurrent refers to multiple operations in progress before oneis completed. The term concurrent does not require multiple operationsto be occurring simultaneously at any instant of time.

It has been discovered that the gripper 122, the robotic unit 110 ofFIG. 1 , the controller 112 of FIG. 1 , the robotic system 100 of FIG. 1, or a combination thereof can provide improved accuracy for securegrasping of the target object 120 with minimal space requirements. Thechecks for both the valid orientation 604, as a horizontal verification,and from the stable condition 526 based on the comparison of the firstposition reading 518, the second position reading 520 of FIG. 5 , thethird position reading 522, the fourth position reading 524, or acombination thereof relative to the object top provides a threedimensional verification of the readiness for the gripper 122 to graspor chuck the target object 120. These checks are performed withoutrequiring additional or separate physical space that is already requiredfor the gripper 122, the target object 120, or a combination thereof.

Referring now to FIG. 9 , there in shown a bottom view of the gripper122. The gripper 122 can represent the gripper 122 of FIG. 7 . Theexample shown in FIG. 9 depicts the first grasping blade 310 connectedwith the displacement rod 404. The second grasping blade 312 isconnected with the blade actuator 402 at the end opposite the endconnected to the displacement rod 404.

In this example, the displacement rod 404 is connected to the firsttransfer bracket 406 of FIG. 4 and the blade actuator 402 is connectedto the second transfer bracket 408 of FIG. 4 . The first transferbracket 406 connects to the first grasping blade 310 at the horizontalportion thereof. Similarly as described earlier, the second transferbracket 408 connects to the second grasping blade 312 at the horizontalportion thereof.

The first wheel rod 422 connects the first grasping blade 310 also atthe horizontal portion but at a side opposite where the first transferbracket 406 connects. The other end of the first wheel rod 422 connectsto the actuation wheel 418.

A second wheel rod 902 connects the second grasping blade 312 to thehorizontal portion thereof but at a side opposite where the secondtransfer bracket 408 connects. The other end of the second wheel rod 902connects to the actuation wheel 418.

The second wheel rod 902 has a similar function to the first wheel rod422. The linear displacement by the blade actuator 402 moves the firstgrasping blade 310 and the second grasping blade 312. This in turnrotates the actuation wheel 418 based on the movement or displacement ofthe first wheel rod 422 and the second wheel rod 902. The rotation ofthe actuation wheel 418 displaces or moves a third wheel rod 904 and afourth wheel rod 906. The third wheel rod 904 and the fourth wheel rod906 have similar functions to the first wheel rod 422, the second wheelrod 902, or a combination thereof.

The other end of the third wheel rod 904 connects to the third graspingblade 314. As the actuation wheel 418 moves or displaces the third wheelrod 904, the third grasping blade 314 is also moved or displaced. Thethird grasping blade 314 is moved or displaced based on the displacementfrom the blade actuator 402.

The other end of the fourth wheel rod 906 connects to the fourthgrasping blade 420. As the actuation wheel 418 moves or displaces thefourth wheel rod 906, the fourth grasping blade 420 is also moved ordisplaced. The fourth grasping blade 420 is moved or displaced based onthe displacement from the blade actuator 402.

In this example and view, the protrusions 430 are shown from the firstgrasping blade 310, the second grasping blade 312, the third graspingblade 314, and the fourth grasping blade 420. The protrusions 430 caninclude a first protrusion 908 and a second protrusion 912 attached toor extending from the first grasping blade 310. The protrusions 430 cana third protrusion 910 and a fourth protrusion 914 attached to orextending from the second grasping blade 312.

Continuing with this example, the protrusions 430 can include a fifthprotrusion 916 and a sixth protrusion 918 attached to or extending fromthe third grasping blade 314. The protrusions 430 can also include aseventh protrusion 920 and an eighth protrusion 922 attached to orextending from the fourth grasping blade 420.

Also shown in this example and view, the orientation sensor 702 is shownextending from the horizontal portion of the first grasping blade 310.This view depicts the extension 706, the support 708, and the detector710.

Referring now to FIG. 10 , therein is shown a bottom perspective view ofthe gripper 122 of FIG. 9 . This example in this view provides adepiction of the vertical elevation relationship of the various portionsof the gripper 122.

As described earlier, this view also depicts the blade actuator 402, thedisplacement rod 404, the first transfer bracket 406, and the secondtransfer bracket 408. This view also depicts the first transfer bracket406 connecting to the horizontal portion of the first grasping blade310. Similarly, the second transfer bracket 408 is shown connecting tothe horizontal portion of the second grasping blade 312.

The actuation wheel 418 connects the first wheel rod 422, the secondwheel rod 902, the third wheel rod 904, and the fourth wheel rod 906with the first grasping blade 310, the second grasping blade 312, thethird grasping blade 314, and the fourth grasping blade 420,respectively.

The first grasping blade 310 is shown with the first slot 502 and thethird slot 506. The first position sensor 510 and the third positionsensor 514 within the first slot 502 and the third slot 506,respectively. The first actuator 328 and the third actuator 334 are alsoshown attached to the first grasping blade 310.

The second grasping blade 312 is shown with the second slot 504 and thefourth slot 508. The second position sensor 512 and the fourth positionsensor 516 within the second slot 504 and the fourth slot 508,respectively. The second actuator 332 and the fourth actuator 336 arealso shown attached to the second grasping blade 312.

The orientation sensor 702 is shown extending from a movement slot inthe horizontal portion of the first grasping blade 310. Theconfiguration of the movement slot allows for the movement for the firstgrasping blade 310 towards and away from the actuation wheel 418. Theorientation sensor 702 includes the extension 706 through the movementslot. The view also depicts the support 708 and the detector 710.

It has been discovered that the gripper 122, the robotic unit 110 ofFIG. 1 , the controller 112 of FIG. 1 , the robotic system 100 of FIG. 1, or a combination thereof can provide a multi-surface, multi-angled,flexible gripping mechanism with minimum space requirement. The gripper122 include the blade actuator 402 cause a displacement of the firstgrasping blade 310, the second grasping blade 312, or a combinationthereof. The first grasping blade 310 and the second grasping blade 312are at opposing ends of the gripper 122. The displacement from the bladeactuator 402 also moves or articulates the third grasping blade 314, thefourth grasping blade 420, or a combination thereof by transferring themovement or articulation with the actuation wheel 418 along with thefirst wheel rod 422, the second wheel rod 902, the third wheel rod 904,and the fourth wheel rod 906 thereby eliminating the physical spacerequirement for a separate actuator and corresponding attendantmechanism for the third grasping blade 314, the fourth grasping blade420, or a combination thereof.

Referring now to FIG. 11 , therein is shown an exploded bottomperspective view of the gripper 122 of FIG. 10 . This exploded viewprovides an additional view of the portions of the gripper 122. Thisexploded view also depicts a socket 1102 and a component 1104.

The socket 1102 allows for physical connection, mechanical connection,optical connection, electrical connection, or a combination thereof fromwhere the socket 1102 is attached or connected to and the item, such asthe component 1104, placed or mounted into the socket 1102. The socket1102 can include a number of types of connectors. For example, thesocket 1102 can be an interface for an electronic device, a mechanicalconnector, a mechanical and electrical connector, an optical device, ora combination thereof.

The component 1104 is an item or device that connects to the socket 1102for physical connection, mechanical connection, optical connection,electrical connection, or a combination thereof. The component 1104 caninclude a number of types and functions. For example, the component 1104can include electronic devices that provide functions as the controlunit 202 of FIG. 2 , the storage unit 206 of FIG. 2 , the communicationunit 212 of FIG. 2 , or a combination thereof. Also for example, thecomponent 1104 can also provide functions as the sensor unit 230 of FIG.2 .

In this example, the component 1104 can be mated, inserted, or connectedwith or into the socket 1102. The component 1104 can interface with,communicate with, or control the other portions of the gripper 122, suchas the orientation sensor 702, the first position sensor 510, the secondposition sensor 512, the third position sensor 514, the fourth positionsensor 516, the first actuator 328, the second actuator 332, the thirdactuator 334, and the fourth actuator 336. The component 1104 can alsointerface with, communicate with, or control other portions of therobotic unit 110 of FIG. 1 , the robotic system 100 of FIG. 1 , or acombination thereof.

As in FIG. 10 , this view depicts the covers 302, the frame 308, theblade actuator 402, the first transfer bracket 406, and the secondtransfer bracket 408. This view also depicts the first transfer bracket406, the second transfer bracket 408, the first grasping blade 310, thesecond grasping blade 312, the third grasping blade 314, and the fourthgrasping blade 420. This view further depicts the actuation wheel 418,the first wheel rod 422, the second wheel rod 902, the third wheel rod904, and the fourth wheel rod 906.

Continuing to list the portions, this view depicts the first slot 502,the second slot 504, the third slot 506, and the fourth slot 508. Theview also depicts the first position sensor 510, the second positionsensor 512, the third position sensor 514, and the fourth positionsensor 516. The view further depicts the first actuator 328, the secondactuator 332, the third actuator 334, and the fourth actuator 336.

Referring now to FIG. 12 , therein is shown a perspective view of thegripper 122 with the actuation interface 222. The example shown in thisview depicts the gripper 122 that can represent the gripper 122 in theprevious figures. The view depicts the covers 302, the mounting plate304, the frame 308, the first grasping blade 310, and the secondgrasping blade 312. The view can also depict the third grasping blade314, although the view can also depict the fourth grasping blade 420 ofFIG. 11 depending on the rotation or orientation of this view relativeto the other figures.

For this sake of brevity and clarity, the description will proceed asthe third grasping blade 314 is depicted. Further, the actuationinterface 222 is described with respect to the first grasping blade 310and the first actuator 328.

For example, the first actuator 328 can be described as a pneumaticactuator. The actuation interface 222 can include actuation lines 1202,which are shown coming out a hole in the frame 308. The actuation lines1202 provide controls to move the first actuator 328, in this example,along the vertical axis or direction. In this view, the actuation lines1202 are connected to the first actuator 328.

In the example where the first actuator 328 is a pneumatic actuator, theactuation lines 1202 can provide some form of gas or fluid to move thefirst actuator 328 along the vertical axis or direction. Some of theactuation lines 1202 can cause the first actuator 328 to engage in anupward or downward motion.

As another example, the first actuator 328 can be described as anelectrical actuator. In this example, the actuation lines 1202 canprovide electrical signals to cause motion of the first actuator 328.

Similar actuation lines 1202 can be connected to the second actuator 332of FIG. 10 , the third actuator 334 of FIG. 10 , the fourth actuator 336of FIG. 10 , or a combination thereof. The actuation lines 1202 canprovide the same controls at the same time or can operate independentlyto the first actuator 328, the second actuator 332, the third actuator334, and the fourth actuator 336.

Referring now to FIG. 13 , therein is a perspective view of a gripper1322 in a further embodiment. The gripper 1322 can also be utilized withthe robotic unit 110 of FIG. 1 , the robotic system 100 of FIG. 1 , or acombination thereof as the gripper 122 of FIG. 1 . For the sake ofexplanation and illustrative purposes, the gripper 1322 is describedherein with the elements of the gripper 122. The view of FIG. 13 isshown without the covers 302 of FIG. 3 . The gripper 1322 includes themounting plate 304 elevated above the horizontal plane of where thecovers 302 would have been for the configuration of the gripper 122 thatincludes the mounting plate 304 of FIG. 3 in a position that is closerto being planar to the covers 302. In other words, the position of themounting plate 304 can be vertically off-set relative to the position ofthe mounting plate 304 illustrated in FIG. 3 .

Similar to the gripper 122, the gripper 1322 can include the frame 308,the blade actuator 402, the displacement rod 404, the first transferbracket 406, and the second transfer bracket 408. This view also depictsthe first transfer bracket 406, the second transfer bracket 408, thefirst grasping blade 310, the second grasping blade 312, the thirdgrasping blade 314 of FIG. 3 , and the fourth grasping blade 420.

Continuing to list the portions of the gripper 1322, this view depictsthe first slot 502, the third slot 506, and the fourth slot 508. Theview further depicts the first actuator 328, the second actuator 332,the third actuator 334, and the fourth actuator 336.

Referring now to FIG. 14 , therein is a control flow for the roboticsystem 100. The control flow can include a pre-approach module 1402, anorigin approach module 1404, a chuck module 1406, an origin departmodule 1408, a move module 1410, a destination approach module 1412, anunchuck module 1414, a destination depart module 1416, and an errorhandler module 1418.

The control flow can be implemented by the software 210 of FIG. 2 andexecuted by the control unit 202 of FIG. 2 , the controller 112 of FIG.2 , or a combination thereof. Commands can be generated by the controlunit 202, the controller 112, the component 1104 of FIG. 11 , therobotic unit 110 of FIG. 1 , the robotic system 100, or a combinationthereof.

The software 210 can be stored in the storage unit 206 of FIG. 2 . Thesoftware 210 can be also executed by the component 1104, or distributedbetween the component 1104 and the control unit 202. The control flowcan include transmitting commands or to invoke actions utilizing thecommunication unit 212 of FIG. 2 , the communication interface 214 ofFIG. 2 , the control interface 204 of FIG. 2 , the storage interface 208of FIG. 2 , the actuation interface 222 of FIG. 2 , the sensor interface224 of FIG. 2 , or a combination thereof as needed. The control flow canbe executed by the gripper 122, the robotic unit 110 of FIG. 1 , thecontroller 112, the robotic system 100, or a combination thereof.

The pre-approach module 1402, the origin approach module 1404, the chuckmodule 1406, the origin depart module 1408, the move module 1410, thedestination approach module 1412, the unchuck module 1414, and thedestination depart module 1416 can be coupled using wired or wirelessconnections, by including an output of one module as an input of theother, by including operations of one module influence operation of theother module, or a combination thereof. The portions of the control flowcan be directly coupled without intervening structures or objects otherthan the connector there-between, or indirectly coupled to one another.

The pre-approach module 1402 can perform the initial configurationsettings and checks. For example, the pre-approach module 1402 caninclude the selection of the first grasping blade 310 of FIG. 10 , thesecond grasping blade 312 of FIG. 10 , the third grasping blade 314 ofFIG. 10 , the fourth grasping blade 420 of FIG. 10 , or a combinationthereof can be selected for the target object 120 of FIG. 3 based on theprotrusions 430 of FIG. 4 matching the locations of the indents 338 ofFIG. 3 .

Also, the pre-approach module 1402 can adjust the placement, where theadjustment can be made, of the first position sensor 510 of FIG. 10 ,the second position sensor 512 of FIG. 10 , the third position sensor514 of FIG. 10 , the fourth position sensor 516 of FIG. 10 , or acombination thereof to ensure that the protrusions 430 are locatedfacing the indents 338 for firm and secure grasp of the target object120. For example, the pre-approach module 1402 can adjust placement orthe location of the position sensors to ensure that the protrusions 430can engage with the indents 338 when the gripper 122 closes or chucks.

In the example where the position sensors can be adjusted automatically,the pre-approach module 1402 can optionally adjust the configuration ofthe first actuator 328 of FIG. 10 , the second actuator 332 of FIG. 10 ,the third actuator 334 of FIG. 10 , the fourth actuator 336 of FIG. 10 ,or a combination thereof to position or place the first position sensor510, the second position sensor 512, the third position sensor 514, thefourth position sensor 516, or a combination thereof to ensure that theprotrusions 430 are located facing the indents 338 for firm and securegrasp of the target object 120.

Further, the pre-approach module 1402 can allow for a pre-selection oradjust the ratio of dimensions between the first wheel rod 422 of FIG.10 , the second wheel rod 902 of FIG. 10 , the third wheel rod 904 ofFIG. 10 , the fourth wheel rod 906 of FIG. 10 , or a combination thereoffor the dimensions of the target object 120. Yet further, thepre-approach module 1402 can allow for the pre-selection of orientationsensor 702 or adjust the position of the orientation sensor 702 for thefunctions of detecting the orientation feature 602 of FIG. 7 includingthe pre-selection or adjustment of the extension 706 of FIG. 7 , thesupport 708 of FIG. 7 , the detector 710 of FIG. 7 , or a combinationthereof.

Yet further, the pre-approach module 1402 can adjust the first bladelimiter 410 of FIG. 4 , the second blade limiter 414 of FIG. 4 , or acombination thereof to limit the dimension of the open position of thegripper 122. The pre-approach module 1402 can also perform checks on thecontrols for the blade actuator 402 of FIG. 4 , the first actuator 328,the second actuator 332, the third actuator 334, the fourth actuator336, or a combination thereof. For example, if the aforementionedactuators are pneumatic actuators, the pre-approach module 1402 cancheck gas or fluid pressure to see if the main pressure is insufficientfor operation. The pre-approach module 1402 can also check the functionand connection of the component 1104 of FIG. 11 and the socket 1102 ofFIG. 11 .

The pre-approach module 1402 can further check if the target object 120is in place before continuing the control flow. For example, thepre-approach module 1402 can check for the target object 120 withcameras (not shown) external to the gripper 122. The cameras can beincluded with the robotic unit 110, the transfer unit 104 of FIG. 1 ,elsewhere in the robotic system 100, or a combination thereof.

Once the configuration is set and the checks pass, the control flow cancontinue to the origin approach module 1404. The origin approach module1404 performs one or more checks to determine whether the target object120 can be securely grasped by the gripper 122.

For the origin approach module 1404, as the gripper 122 approaches thetarget object 120, the orientation sensor 702 of FIG. 8 generates theorientation reading 704 of FIG. 7 based on the orientation feature 602of FIG. 8 along at least one of the walls 316 of FIG. 8 . When the validorientation 604 of FIG. 6 cannot be determined or reached based on theorientation reading 704, movement or position adjustment of the gripper122 can continue until the orientation reading 704 can lead to thedetermination of the valid orientation 604.

After a predetermined number of tries or after a limit has been reached,the origin approach module 1404, the gripper 122, the robotic unit 110,the controller 112, the robotic system 100, or a combination thereof cansignal an error, in which case the control flow can progress to theerror handler module 1418.

When the valid orientation 604 is determined, the control flow canprogress to the chuck module 1406. The chuck module 1406 checks thelevel of the gripper 122 before grasping at least one of the targetobject 120. The chuck module 1406 also can secure the target object 120based on the successful checks.

The chuck module 1406 continues to check if the gripper 122 and thetarget object 120 are in correct position relative to each other forsecure and robust grasping. The chuck module 1406 can send a chuckcommand 1420 to invoke the gripper 122 to securely grasp the targetobject 120 based on the stable condition 526 of FIG. 5 .

The chuck module 1406 continues the check the vertical alignment or thevertical readiness between the gripper 122 and the target object 120 forthe determination of the stable condition 526. As an example, the chuckmodule 1406 can operate the first position sensor 510, the secondposition sensor 512, the third position sensor 514, the fourth positionsensor 516, or a combination thereof to generate the first positionreading 518 of FIG. 5 , the second position reading 520 of FIG. 5 , thethird position reading 522 of FIG. 5 , the fourth position reading 524of FIG. 5 , or a combination thereof, respectively. The chuck module1406 can receive the first position reading 518, the second positionreading 520, the third position reading 522, the fourth position reading524, or a combination thereof to determine if the gripper 122 has beenlowered to a level for the protrusions 430 to face the indents 338, ifany, of the target object 120, such that closing or chucking the gripper122 would cause the protrusions 430 to engage within the indents 338.

The chuck module 1406 can determine the gripper 122 is ready to graspthe target object 120 when the first position reading 518, the secondposition reading 520, the third position reading 522, the fourthposition reading 524, or a combination thereof is at or below the objecttop 318 of FIG. 5 . When this condition is met, the chuck module 1406utilize this condition along with the valid orientation 604 to determineor indicate the stable condition 526 for the gripper 122 to secure thetarget object 120.

Returning to the chuck command 1420, the chuck command 1420 invokes thegripper 122 to secure and grasp the target object 120. The gripper 122secures the target object 120 along the verticals sides of the walls316, along the object top 318 of the walls 316, or a combinationthereof.

Continuing with the example, the chuck module 1406 can secure thevertical sides of the walls 316 by operating the blade actuator 402 ofFIG. 4 . The blade actuator 402 can move the first grasping blade 310,the second grasping blade 312, the third grasping blade 314, the fourthgrasping blade 420, or a combination thereof to secure the target object120.

Further continuing the example, the chuck module 1406 can also securethe object top 318 of the walls 316. The chuck module 1406 can invokethe first actuator 328, the second actuator 332, the third actuator 334,the fourth actuator 336, or a combination thereof to press down on thetarget object 120. For example, the first actuator 328, the secondactuator 332, the third actuator 334, the fourth actuator 336, or acombination thereof can include functions of a piston pressing down onthe target object 120 to further secure the target object 120.

For illustrative purposes, the gripper 122 is described to secure thetarget object 120 from the sides and the top in a sequential manner,although it is understood that the gripper 122 can be configured and beoperated differently. For example, the gripper 122 can respond to thechuck command 1420 to secure the target object 120 by concurrentlyoperating the blade actuator 402 along with the first actuator 328, thesecond actuator 332, the third actuator 334, the fourth actuator 336, ora combination thereof. Also for example, the gripper 122 can respond tothe chuck command 1420 to secure the target object 120 by operating theblade actuator 402 after securing the target object 120 by operating thefirst actuator 328, the second actuator 332, the third actuator 334, thefourth actuator 336, or a combination thereof.

When the linear displacement of the blade actuator 402 is held in placeand optionally operating the first actuator 328, the second actuator332, the third actuator 334, the fourth actuator 336, or a combinationthereof to secure the target object 120, the control flow can progressto the origin depart module 1408. The origin depart module 1408 is forthe movement of the target object 120 secured by the gripper 122. Themovement can be performed by the robotic unit 110 or another part of therobotic system 100.

For example, the origin depart module 1408 can continue to check thestatus of the blade actuator 402, the stable condition 526, or acombination thereof. As a specific example, the origin depart module1408 can optionally check for slippage of the target object 120 beinggrasped by the gripper 122 by monitoring the first position reading 518,the second position reading 520, the third position reading 522, thefourth position reading 524, or a combination thereof. For example, theorigin departure module 1408 can determine slippage of the target object120 as a change or shift in position of the target object 120 based onchanges in the first position reading 518, the second position reading520, the third position reading 522, the fourth position reading 524, ora combination thereof following securing of the target object 120 by thegripper 112.

Further, the origin depart module 1408 can continue to check whether thefirst actuator 328, the second actuator 332, the third actuator 334, thefourth actuator 336, or a combination thereof is pressing on the targetobject 120. As a specific example, the origin depart module 1408 cancheck the pressure from the first actuator 328, the second actuator 332,the third actuator 334, the fourth actuator 336, or a combinationthereof on the target object 120. Also for example, the origin departmodule 1408 can check the status through the actuation interface 222 ofFIG. 2 and, as a specific example, check the pressure of the actuationlines 1202 of FIG. 12 .

When the stable condition 526 is not maintained, the control flow canprogress to the error handler module 1418. When the stable condition 526is maintained, the control flow can progress to the move module 1410.The move module 1410 picks up at least one of the target object 120being grasped and secured by the gripper 122. The move module 1410 canalso locate the gripper 122 to a destination location.

Similarly, the move module 1410 can optionally continue to check thestatus of the blade actuator 402, the stable condition 526, or acombination thereof. As a specific example, the move module 1410 canoptionally check for slippage of the target object 120 being grasped bythe gripper 122 by monitoring the first position reading 518, the secondposition reading 520, the third position reading 522, the fourthposition reading 524, or a combination thereof. For example, the movemodule 1410 can determine slippage of the target object 120 as a changeor shift in position of the target object 120 based on changes in thefirst position reading 518, the second position reading 520, the thirdposition reading 522, the fourth position reading 524, or a combinationthereof following securing of the target object 120 by the gripper 112.

Further, the move module 1410 can continue to check whether the firstactuator 328, the second actuator 332, the third actuator 334, thefourth actuator 336, or a combination thereof is pressing on the targetobject 120. As a specific example, the move module 1410 can check thepressure from the first actuator 328, the second actuator 332, the thirdactuator 334, the fourth actuator 336, or a combination thereof on thetarget object 120. Also for example, the move module 1410 can check thestatus through the actuation interface 222 and, as a specific example,check the pressure of the actuation lines 1202 of FIG. 12 .

When the stable condition 526 is not maintained, the control flow canprogress to the error handler module 1418. When the stable condition 526is maintained, the control flow can progress to the destination approachmodule 1412. The destination approach module 1412 can optionally checkto determine whether the target object 120 that is secured by thegripper 122 can be placed at the destination location. The destinationapproach module 1412 can also generate or execute instructions forbeginning release or un-securing of the target object 120.

The destination approach module 1412 can perform the checks in a numberof ways. For example, if the target object 120 secured by the gripper122 is being stacked on another of the target object 120, then thedestination approach module 1412 can locate the stack and theappropriate orientation for stacking the target object 120. Thisstacking check can be performed utilizing one or more cameras externalto the gripper 122. As a different example, the destination approachmodule 1412 can check if the destination location has space for thetarget object 120 to be placed.

Continuing with the destination approach module 1412, the destinationapproach module 1412 can be for placing the target object 120 secured bythe gripper 122 at the destination location. The destination approachmodule 1412 can optionally check whether the target object 120 moved toor placed at the destination location is placed at a proper angle, suchas flat on a pallet.

The destination approach module 1412 can check the angle of the targetobject 120 in a number of ways. For example, the destination approachmodule 1412 can check the actuation interface 222 or, as a specificexample, check for pressure changes to the actuation lines 1202 toindicate whether the target object 120 is in the proper angle, e.g.flat. Also for example, the destination approach module 1412 can checkthe first position reading 518, the second position reading 520, thethird position reading 522, the fourth position reading 524, or acombination thereof relative to the object top 318 to determine whetherone or more of the position sensors indicates that the target object 120is no longer in the stable condition 526. Further for example, thedestination approach module 1412 can perform a check of the placementangle of the target object 120 based on information received fromcameras external to the gripper 122.

The destination approach module 1412 can also be for generating orexecuting instructions to initiate unsecuring of the target object 120being grasped or secured by the gripper 122. For example, once the angleof the target object 120 at the destination location is determined to besatisfactory, such in the stable condition 526, the gripper 122 canrelease the pressure on the target object 120. As a specific example,the destination approach module 1412 can generate or executeinstructions for operating operate the first actuator 328, the secondactuator 332, the third actuator 334, the fourth actuator 336, or acombination thereof to cease pressing on target object 120. As a morespecific example, the destination approach module 1412 can generate orexecute instructions for operating or operate the first actuator 328,the second actuator 332, the third actuator 334, the fourth actuator336, or a combination thereof to move upwards to stop pressing on thetarget object 120.

When the stable condition 526 is not maintained or the other checks thatwere performed were not satisfied, the control flow can progress to theerror handler module 1418. When the stable condition 526 is maintainedand the other checks that were performed are satisfied, the control flowcan progress to the unchuck module 1414. As an example, duringimplementation of the unchuck module 1414, the robotic system 100 cancomplete release or unsecure the target object 120 grasped or secured bythe gripper 122.

The unchuck module 1414 is for generating or executing an unchuckcommand 1422 to complete release or unsecuring of the target object 120by the gripper 122. The unchuck command 1422 invokes the gripper 122 tocontinue the release or unsecure function.

As an example, the gripper 122 can complete the release and unsecuringfunction by allowing the blade actuator 402 to cease displacing thefirst grasping blade 310 of FIG. 10 , the second grasping blade 312 ofFIG. 10 , the third grasping blade 314 of FIG. 10 , the fourth graspingblade 420 of FIG. 10 , or a combination thereof towards the walls 316 ofthe target object 120. As a specific example, the blade actuator 402 canrelease the pressure exerted by the first grasping blade 310, the secondgrasping blade 312, the third grasping blade 314, the fourth graspingblade 420, or a combination thereof and move towards the frame 308 ofFIG. 3 , which can be limited by the first blade limiter 410 of FIG. 4 ,the second blade limiter 414 of FIG. 4 , or a combination thereof.

The control flow can progress to the destination depart module 1416. Thedestination depart module 1416 is for moving the gripper 122 away fromthe target object 120. The destination depart module 1416 can also checkthe target object 120 as the gripper 122 moves away from the targetobject 120.

As an example, the destination depart module 1416 can generate orexecute instruction to move the gripper 122 away from the target object120 after releasing and unsecuring. As the destination depart module1416 lifts the gripper 122, the gripper 122 checks the relative angle ofthe target object 120 at the destination location. As a specificexample, the destination depart module 1416 can utilize the firstposition reading 518, the second position reading 520, the thirdposition reading 522, the fourth position reading 524, or a combinationthereof to check if the aforementioned reading indicates what isexpected for the angle, such as the same angle as the surface where thetarget object 120 has been placed, of the target object 120 as thegripper 122 moves away from the target object 120.

When the angle is not as expected as the gripper 122 moves away, thecontrol flow can progress to the error handler module 1418. When theangle is as expected as the gripper 122 moves away, the control flow canreturn to the pre-approach module 1402 or the control flow can end.

The error handler module 1418 allows for corrective actions within thecontrol flow or to notify other portions of the robotic unit 110, thecontroller 112, the robotic system 100, or a combination thereof. Thefunction of and flow from the error handler module 1418 can depend onwhat portion of the control flow led to the error handler module 1418.

When the origin approach module 1404 flows to the error handler module1418, other portions of the robotic system 100 can be invoked to correctthe orientation of the target object 120. The control flow can remainwith the error handler module 1418 until a reset occurs with the controlflow or can return to the pre-approach module 1402 to restart theoperations of the control flow. The reset condition would put thecontrol flow into an initial state as in first power on state of therobotic system 100. Also, the error handler module 1418 can terminatethe operation of the control flow if an error cannot be resolved by therobotic system 100.

When the origin depart module 1408 flows to the error handler module1418, some corrective actions can be taken by the error handler module1418. For example, the error handler module 1418 can increase the forcefrom the blade actuator 402 if slippage is detected. If the increasedforce is successful to prevent or stop the slippage, the control flowcan return to the origin depart module 1408. Also for example, if thefirst actuator 328, the second actuator 332, the third actuator 334, thefourth actuator 336, or a combination thereof is not pressing down onthe target object 120 sufficiently, then the error handler module 1418can increase the pressing force of the appropriate actuator through theactuation interface 222. If the error handler module 1418 is successfulin preventing or stopping the slippage, the control flow can return tothe origin depart module 1408. If the error handler module 1418 cannotsuccessfully implement a corrective action, then the control flow canremain with the error handler module 1418 until the approach resetoccurs with the control flow or can return to the pre-approach module1402.

When the move module 1410 flows to the error handler module 1418, theerror handler module 1418 can attempt to transport the target object 120to a predesignated location for an emergency or stop moving the targetobject 120. The control flow can remain with the error handler module1418 until the approach reset occurs with the control flow or can returnto the pre-approach module 1402.

When the destination approach module 1412 flows to the error handlermodule 1418, the error handler module 1418 can attempt correctiveactions. For example, the error handler module 1418 can attempt torelocate the target object 120 such that the proper angle can beachieved. Also for example, the error handler module 1418 can alsoadjust the pressure to the first actuator 328, the second actuator 332,the third actuator 334, the fourth actuator 336, or a combinationthereof as needed. If successful in relocating the target object 120,then the control flow can return to the destination approach module1412. If not successful in relocating the target object 120, then thecontrol flow can remain with the error handler module 1418 until theapproach reset occurs with the control flow or can return to thepre-approach module 1402.

When the destination depart module 1416 flows to the error handlermodule 1418, the error handler module 1418 can attempt correctiveactions. For example, the error handler module 1418 can attempt torelocate the target object 120 such that the proper angle can beachieved. Also for example, the error handler module 1418 can alsogenerate or execute instructions for operating the gripper 122 to securethe target object 120 to move to a more suitable location. Ifsuccessful, then the control flow can return to the destination departmodule 1416. If not successful, then the control flow can remain withthe error handler module 1418 until the approach reset occurs with thecontrol flow or can return to the pre-approach module 1402.

For illustrative purposes, the control flow is described in FIG. 14 withthe partition of modules and the functions for each of the modules,although it is understood that control flow can operate and beconfigured differently. For example, generation or execution ofinstructions for operating the first actuator 328, the second actuator332, the third actuator 334, the fourth actuator 336, or a combinationthereof can be performed by the origin depart module 1408 instead of thechuck module 1406. Also for example, the functions of the chuck module1406 and the origin depart module 1408 can be included into a singlemodule. Further for example, the corrective actions described in theerror handler module 1418 can perform in the respective module thatflowed into the error handler module 1418.

Referring now to FIG. 15 , therein is shown a flow chart of a method1500 of operation of a robotic system 100 including the gripper 122 ofFIG. 1 in an embodiment of the present invention. The method 1500includes generating an orientation reading for a target object in ablock 1502; generating a first position reading representing a positionof a first grasping blade of the gripper relative to the target objectin a block 1504; generating a second position reading representing aposition of a second grasping blade of the gripper relative to thetarget object and the second grasping blade located at an opposite sideof the target object as the first grasping blade in a block 1506; andexecuting an instruction for securing the target object with the firstgrasping blade and the second grasping blade based on a validorientation reading of the orientation reading and based on the firstposition reading and the second position reading indicating a stablecondition in a block 1508.

The resulting method, process, apparatus, device, product, and/or systemis cost-effective, highly versatile, accurate, sensitive, and effective,and can be implemented by adapting known components for ready,efficient, and economical manufacturing, application, and utilization.Another important aspect of an embodiment of the present invention isthat it valuably supports and services the historical trend of reducingcosts, simplifying systems, and increasing performance.

These and other valuable aspects of an embodiment of the presentinvention consequently further the state of the technology to at leastthe next level.

While the invention has been described in conjunction with a specificbest mode, it is to be understood that many alternatives, modifications,and variations will be apparent to those skilled in the art in light ofthe aforegoing description. Accordingly, it is intended to embrace allsuch alternatives, modifications, and variations that fall within thescope of the included claims. All matters set forth herein or shown inthe accompanying drawings are to be interpreted in an illustrative andnon-limiting sense.

What is claimed is:
 1. A gripper comprising: an orientation sensorconfigured to generate an orientation reading for a target object; afirst grasping blade configured to secure the target object; a secondgrasping blade configured to secure the target object in conjunctionwith the first grasping blade and at an opposite end of the targetobject relative to the first grasping blade; a first position sensorconfigured to generate a first position reading of the first graspingblade relative to the target object and located with the first graspingblade; a second position sensor configured to generate a second positionreading of the second grasping blade relative to the target object andlocated with the second grasping blade; and a blade actuator configuredto secure the target object with the first grasping blade and the secondgrasping blade based on a valid orientation of the orientation readingand based on the first position reading and the second position readingindicating a stable condition, and coupled to the first grasping bladeand the second grasping blade.
 2. The gripper as claimed in claim 1wherein: the first position sensor is further configured to generate thefirst position reading with a first blade bottom of the first graspingblade below an object top of the target object; and the second positionsensor is further configured to generate the second position readingwith a second blade bottom of the second grasping blade below the objecttop.
 3. The gripper as claimed in claim 1 further comprising: a thirdposition sensor, located with the first grasping blade, configured togenerate a third position reading of the first grasping blade relativeto the target object; a fourth position sensor, located with the secondgrasping blade, configured to generate a fourth position reading of thesecond grasping blade relative to the target object; and wherein theblade actuator is further configured to: secure the target object basedon the first position reading, the second position reading, the thirdposition reading, and the fourth position reading indicating the stablecondition.
 4. The gripper as claimed in claim 1 wherein: the firstposition sensor is further configured to generate the first positionreading with a first blade bottom of the first grasping blade below anobject top of the target object; and the second position sensor isfurther configured to generate the second position reading with a secondblade bottom of the second grasping blade below the object top, whereinthe second position reading is the same as the first position reading.5. The gripper as claimed in claim 1 wherein: the blade actuator isfurther configured to unsecure the target object; the first positionsensor is further configured to generate the first position reading atan object top of the target object; and the second position sensor isfurther configured to generate the second position reading at the objecttop.
 6. The gripper as claimed in claim 1 further comprising: a firstactuator, coupled to the first position sensor, configured to secure thetarget object with the first grasping blade; and a second actuator,coupled to the second position sensor, configured to secure the targetobject with the second grasping blade.
 7. The gripper as claimed inclaim 1 further comprising: an actuation wheel, coupled to the firstgrasping blade, configured to displace of the first grasping blade; athird grasping blade, coupled to the actuation wheel, configured tosecure the target object based on the displacement; and a fourthgrasping blade, coupled to the actuation wheel and at an opposite end tothe third grasping blade, configured to secure the target object basedon the displacement.
 8. A method of operation of a robotic systemincluding a gripper comprising: generating an orientation reading for atarget object; generating a first position reading representing aposition of a first grasping blade of the gripper relative to the targetobject; generating a second position reading representing a position ofa second grasping blade of the gripper relative to the target object andthe second grasping blade located at an opposite side of the targetobject as the first grasping blade, and executing an instruction forsecuring the target object with the first grasping blade and the secondgrasping blade based on a valid orientation reading of the orientationreading and based on the first position reading and the second positionreading indicating a stable condition.
 9. The method as claimed in claim8 wherein: generating the first position reading representing a firstblade bottom of the first grasping blade below an object top of thetarget object; and generating the second position reading representing asecond blade bottom of the second grasping blade below the object top.10. The method as claimed in claim 8 wherein: generating a thirdposition reading representing a position of the first grasping bladerelative to the target object; generating a fourth position readingrepresenting a position of the second grasping blade relative to thetarget object; and executing an instruction for securing the targetobject is based on the first position reading, the second positionreading, the third position reading, and the fourth position readingindicating the stable condition.
 11. The method as claimed in claim 8wherein: generating the first position reading represents a first bladebottom of the first grasping blade below an object top of the targetobject; and generating the second position reading represents a secondblade bottom of the second grasping blade below the object top, whereinthe second position reading is the same as the first position reading.12. The method as claimed in claim 8 further comprising: executing aninstruction for unsecuring the target object; generating the firstposition reading for locating an object top of the target object; andgenerating the second position reading for locating the object top. 13.The method as claimed in claim 8 further comprising: executing aninstruction for securing the target object with the first graspingblade; and executing an instruction for securing the target object withthe second grasping blade.
 14. The method as claimed in claim 8 furthercomprising: executing an instruction for displacing of the firstgrasping blade with an actuation wheel; executing an instruction forsecuring the target object based on displacing a third grasping bladecoupled to the actuation wheel; and executing an instruction forsecuring the target object based on displacing a fourth grasping bladecoupled to the actuation wheel.
 15. A robotic system comprising: acontrol unit configured to: verify a valid orientation for a targetobject, determine a stable condition for the target object based on afirst position reading of a first grasping blade of a gripper relativeto the target object and a second position reading of a second graspingblade of the gripper relative to the target object, generate a chuckcommand based on the stable condition and the valid orientation for thetarget object; and a communication unit, coupled to the control unit,configured to: transmit the chuck command for securing the target objectwith the first grasping blade and the second grasping blade.
 16. Thesystem as claimed in claim 15 wherein the control unit is furtherconfigured to operate a first actuator to secure the target object withthe first grasping blade.
 17. The system as claimed in claim 15 whereinthe control unit is further configured to determine the stable conditionfor the target object based on the first position reading indicating afirst blade bottom of the first grasping blade is below an object top ofthe target object.
 18. The system as claimed in claim 15 wherein thecontrol unit is further configured to determine the stable condition forthe target object based on the first position reading and the secondposition reading at opposite ends of the target object.
 19. The systemas claimed in claim 15 wherein the control unit is further configuredto: generate a unchuck command to release the target object; anddetermine the stable condition for the target object execution of afterthe unchuck command based on the first position reading and the secondposition reading are at an object top of the target object.
 20. Thesystem as claimed in claim 15 wherein the communication unit is furtherconfigured to transmit the chuck command to secure the target objectwith a third grasping blade of the gripper and a fourth grasping bladeof the gripper, at an opposite end of the target object to the thirdgrasping blade, based on displacing the first grasping blade and thesecond grasping blade.